Primal/dual descent methods for dynamics
Publikation: Bidrag til tidsskrift › Konferenceartikel › Forskning › fagfællebedømt
We examine the relationship between primal, or force-based, and dual, or constraint-based formulations of dynamics. Variational frameworks such as Projective Dynamics have proved popular for deformable simulation, however they have not been adopted for contact-rich scenarios such as rigid body simulation. We propose a new preconditioned frictional contact solver that is compatible with existing primal optimization methods, and competitive with complementarity-based approaches. Our relaxed primal model generates improved contact force distributions when compared to dual methods, and has the advantage of being differentiable, making it well-suited for trajectory optimization. We derive both primal and dual methods from a common variational point of view, and present a comprehensive numerical analysis of both methods with respect to conditioning. We demonstrate our method on scenarios including rigid body contact, deformable simulation, and robotic manipulation.
Originalsprog | Engelsk |
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Tidsskrift | Computer Graphics Forum |
Vol/bind | 39 |
Udgave nummer | 8 |
Sider (fra-til) | 89-100 |
ISSN | 1467-8659 |
DOI | |
Status | Udgivet - 2020 |
Begivenhed | 2020 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA 2020 - Virtual, Online, Canada Varighed: 6 okt. 2020 → 9 okt. 2020 |
Konference
Konference | 2020 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA 2020 |
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Land | Canada |
By | Virtual, Online |
Periode | 06/10/2020 → 09/10/2020 |
Bibliografisk note
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