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09 Rigid Body Simulation

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7 views15 pages

09 Rigid Body Simulation

Uploaded by

459258639
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Smoothed Particle Hydrodynamics

Techniques for the Physics Based Simulation of Fluids and Solids

Rigid Bodies

Dan Jan Barbara Matthias


Koschier Bender Solenthaler Teschner
Graphics Research - SPH Solver
 Fluids
 Low viscosity [Mueller 2003, Bender 2017]
 High viscosity [Debrun 1996, Peer 15, Takahashi 15, Weiler 18]
 Ferrofluids [Huang 2019]
 Granular materials
 Elastic solids [Solenthaler 2007, Peer 2018]
 Plastic solids [Gerszewski 2009]
 Rigid bodies [Gissler 2019]

SPH for the Physics Based Simulation of Fluids and Solids – 27


SPH Rigid-Body Solver
 Sample surfaces with particles
 Map contact to artificial density deviation
 Compute pressure
 Pressure accelerations resolve contacts
 Pressure system differs from fluids
as accelerations are applied to entire
rigid bodies (sets of particles) instead
of single particles

SPH for the Physics Based Simulation of Fluids and Solids – 28


SPH for the Physics Based[Gissler
Simulationet al., presented
of Fluids and Solids – 29 at ACM SIGGRAPH 2019]
Formulation
 Rigid-body surface particles
with artificial rest density, e.g.
 Contact:
 Continuity equation:
 Time discretization at :

 Constraint :

SPH for the Physics Based Simulation of Fluids and Solids – 30


Concept
 Find velocities for rigid-body particles
such that
 Map unknown velocities to unknown
artificial pressure per particle
 Pressure corresponds to a
pressure / contact force
 Forces change linear / angular
momentum of the entire rigid body such that
all particles have the desired velocities
SPH for the Physics Based Simulation of Fluids and Solids – 31
Illustration

SPH for the Physics Based Simulation of Fluids and Solids – 32


Reformulating the System
 One equation per particle
with unknown particle velocity

 One equation per particle


with unknown body velocities

SPH for the Physics Based Simulation of Fluids and Solids – 33


Reformulating the System
 One equation per particle
with unknown contact forces

 One equation per particle


with unknown pressures

SPH for the Physics Based Simulation of Fluids and Solids – 34


Solver
 SPH discretization of
 Two loops over all rigid particles
 Standard SPH forms for
 Jacobi iterations

SPH for the Physics Based Simulation of Fluids and Solids – 35


Strong Fluid-Rigid Coupling
 Iterative rigid-body solver
 Iterative fluid solver, e.g. PCISPH, IISPH, DFSPH
 Interleaved fluid-rigid velocity update
 Rigid solver iteration updates
predicted velocities of rigid particles
 Fluid solver iteration updates
predicted velocities of fluid particles

SPH for the Physics Based Simulation of Fluids and Solids – 36


SPH for the Physics Based[Gissler
Simulationet al., presented
of Fluids and Solids – 37 at ACM SIGGRAPH 2019]
SPH for the Physics Based[Gissler
Simulationet al., presented
of Fluids and Solids – 38 at ACM SIGGRAPH 2019]
SPH for the Physics Based[Gissler
Simulationet al., presented
of Fluids and Solids – 39 at ACM SIGGRAPH 2019]
SPH for the Physics Based Simulation of Fluids and Solids – 40 [FIFTY2 Technology]

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