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dc.contributor.authorMüller, Matthiasen_US
dc.contributor.authorMacklin, Milesen_US
dc.contributor.authorChentanez, Nuttapongen_US
dc.contributor.authorJeschke, Stefanen_US
dc.contributor.authorKim, Tae-Yongen_US
dc.contributor.editorBender, Jan and Popa, Tiberiuen_US
dc.description.abstractWe present a rigid body simulation method that can resolve small temporal and spatial details by using a quasi explicit integration scheme that is unconditionally stable. Traditional rigid body simulators linearize constraints because they operate on the velocity level or solve the equations of motion implicitly thereby freezing the constraint directions for multiple iterations. Our method always works with the most recent constraint directions. This allows us to trace high speed motion of objects colliding against curved geometry, to reduce the number of constraints, to increase the robustness of the simulation, and to simplify the formulation of the solver. In this paper we provide all the details to implement a fully fledged rigid body solver that handles contacts, a variety of joint types and the interaction with soft objects.en_US
dc.publisherThe Eurographics Association and John Wiley & Sons Ltd.en_US
dc.subjectComputing methodologies
dc.subjectSimulation by animation
dc.subjectInteractive simulation
dc.subjectRigid body simulation
dc.subjectsoft body simulation
dc.subjectposition based dynamics
dc.titleDetailed Rigid Body Simulation with Extended Position Based Dynamicsen_US
dc.description.seriesinformationComputer Graphics Forum
dc.description.sectionheadersRigid Bodies

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  • 39-Issue 8
    ACM SIGGRAPH / Eurographics Symposium on Computer Animation 2020

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