We present an algorithm for robust and efficient contact handling of deformable objects. By being aware of the internal dynamics of the colliding objects, our algorithm provides smooth rolling and sliding, stable stacking, robust impact handling, and seamless coupling of heterogeneous objects, all in a unified manner. We achieve dynamicsawareness through a constrained dynamics formulation with implicit complementarity constraints, and we present two major contributions that enable an efficient solution of the constrained dynamics problem: a time stepping algorithm that robustly ensures non-penetration and progressively refines the formulation of constrained dynamics, and a new solver for large mixed linear complementarity problems, based on iterative constraint anticipation. We show the application of our algorithm in challenging scenarios such as multi-layered cloth moving at high velocities, or colliding deformable solids simulated with large time steps.
We present an adaptive octree based approach for interactive cutting of deformable objects. Our technique relies on efficient refine-and node split-operations. These are sufficient to robustly represent cuts in the mechanical simulation mesh. A high-resolution surface embedded into the octree is employed to represent a cut visually. Model modification is performed in the rest state of the object, which is accomplished by back-transformation of the blade geometry. This results in an improved robustness of our approach. Further, an efficient update of the correspondences between simulation elements and surface vertices is proposed. The robustness and efficiency of our approach is underlined in test examples as well as by integrating it into a prototype surgical simulator.
We present a novel framework for the efficient simulation and animation of discrete thin shells. Our method takes a point sampled surface as input and performs all necessary computations without intermediate triangulation.We discretize the thin shell functional using so-called fibers. Such fibers are locally embedded parametric curves crisscrossing individual point samples. In combination, they create a dense mesh representing the surface structure and connectivity for the shell computations. In particular, we utilize the fibers to approximate the differential surface operators of the thin shell functional. The polynomials underlying the fiber representation allow for a robust and fast simulation of thin shell behavior. Our method supports both elastic and plastic deformations as well as fracturing and tearing of the material. To compute surfaces with rich surface detail, we designed a multiresolution representation which maps a high-resolution surface onto a fiber network of lower resolution. This makes it possible to animate densely sampled models of very high surface complexity. While being tuned for point sampled objects, the presented framework is versatile and can also take triangle meshes or triangle soups as input.
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