a) Compound pulley (b) Robotic arm (c) Chain gears (d) Line shaft Figure 1: Various examples that demonstrate the scalability and robustness of our approach. (a) Compound pulley: our framework allows us to simulate a compound pulley system composed of up to 1024 pulleys connected by a single strand. (b) Robot arm: the cable for controlling the proximal arm is routed through a small aperture so that the arm can be controlled even when the robot body is rotated. (c) A cabled system with two 2:1 chain gear drives. (d) Large-scale simulation-subcomponents connected by an overhead line shaft. AbstractA significant challenge in applications of computer animation is the simulation of ropes, cables, and other highly constrained strandlike physical curves. Such scenarios occur frequently, for instance, when a strand wraps around rigid bodies or passes through narrow sheaths. Purely Lagrangian methods designed for less constrained applications such as hair simulation suffer from difficulties in these important cases. To overcome this, we introduce a new framework that combines Lagrangian and Eulerian approaches. The two key contributions are the reduced node, whose degrees of freedom precisely match the constraint, and the Eulerian node, which allows constraint handling that is independent of the initial discretization of the strand. The resulting system generates robust, efficient, and accurate simulations of massively constrained systems of rigid bodies and strands.

Simulating viscoelastic solids undergoing large, nonlinear deformations in close contact is challenging. In addition to inter-object contact, methods relying on Lagrangian discretizations must handle degenerate cases by explicitly remeshing or resampling the object. Eulerian methods, which discretize space itself, provide an interesting alternative due to the fixed nature of the discretization. In this paper we present a new Eulerian method for viscoelastic materials that features a collision detection and resolution scheme which does not require explicit surface tracking to achieve accurate collision response. Time-stepping with contact is performed by the efficient solution of large sparse quadratic programs; this avoids constraint sticking and other difficulties. Simulation and collision processing can share the same uniform grid, making the algorithm easy to parallelize. We demonstrate an implementation of all the steps of the algorithm on the GPU. The method is effective for simulation of complicated contact scenarios involving multiple highly deformable objects, and can directly simulate volumetric models obtained from medical imaging techniques such as CT and MRI.

a) Compound pulley (b) Robotic arm (c) Chain gears (d) Line shaft Figure 1: Various examples that demonstrate the scalability and robustness of our approach. (a) Compound pulley: our framework allows us to simulate a compound pulley system composed of up to 1024 pulleys connected by a single strand. (b) Robot arm: the cable for controlling the proximal arm is routed through a small aperture so that the arm can be controlled even when the robot body is rotated. (c) A cabled system with two 2:1 chain gear drives. (d) Large-scale simulation-subcomponents connected by an overhead line shaft. AbstractA significant challenge in applications of computer animation is the simulation of ropes, cables, and other highly constrained strandlike physical curves. Such scenarios occur frequently, for instance, when a strand wraps around rigid bodies or passes through narrow sheaths. Purely Lagrangian methods designed for less constrained applications such as hair simulation suffer from difficulties in these important cases. To overcome this, we introduce a new framework that combines Lagrangian and Eulerian approaches. The two key contributions are the reduced node, whose degrees of freedom precisely match the constraint, and the Eulerian node, which allows constraint handling that is independent of the initial discretization of the strand. The resulting system generates robust, efficient, and accurate simulations of massively constrained systems of rigid bodies and strands.

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