Interactive rigid body dynamics using a projected gauss-seidel subspace minimization method
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Interactive rigid body dynamics using a projected gauss-seidel subspace minimization method. / Silcowitz, Morten; Niebe, Sarah; Erleben, Kenny.
Computer Vision, Imaging and Computer Graphics: Theory and Applications - International Joint Conference, VISIGRAPP 2010, Revised Selected Papers. 2011. p. 218-229 (Communications in Computer and Information Science, Vol. 229 CCIS).Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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TY - GEN
T1 - Interactive rigid body dynamics using a projected gauss-seidel subspace minimization method
AU - Silcowitz, Morten
AU - Niebe, Sarah
AU - Erleben, Kenny
PY - 2011
Y1 - 2011
N2 - Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. Contact forces are applied to prevent rigid bodies from penetrating and to control slipping between bodies. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. This results in visual artefacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We formulate the contact force problem as a nonlinear complementarity problem, and discretize the problem to derive the Projected Gauss-Seidel method. We combine the Projected Gauss-Seidel method with a subspace minimization method. Our new method shows improved qualities and superior convergence properties for specific configurations.
AB - Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. Contact forces are applied to prevent rigid bodies from penetrating and to control slipping between bodies. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. This results in visual artefacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We formulate the contact force problem as a nonlinear complementarity problem, and discretize the problem to derive the Projected Gauss-Seidel method. We combine the Projected Gauss-Seidel method with a subspace minimization method. Our new method shows improved qualities and superior convergence properties for specific configurations.
UR - http://www.scopus.com/inward/record.url?scp=84857543069&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-25382-9_15
DO - 10.1007/978-3-642-25382-9_15
M3 - Article in proceedings
AN - SCOPUS:84857543069
SN - 9783642253812
T3 - Communications in Computer and Information Science
SP - 218
EP - 229
BT - Computer Vision, Imaging and Computer Graphics
T2 - International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPP 2010
Y2 - 17 May 2010 through 21 May 2012
ER -
ID: 306858424