Fast Multi-Body Coupling for Underwater Interactions
Loading...
Date
2025
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association
Abstract
Simulating multi-rigid-body interactions in underwater environments is crucial for various downstream applications, such as robotic navigation, manipulation, and locomotion. However, existing approaches either rely on computationally expensive volumetric fluid-rigid simulations or focus solely on single-body dynamics. In this work, we introduce a fast framework for simulating multi-rigid-body coupling in underwater environments by extending the added mass paradigm to capture global interactions in incompressible, irrotational fluids. Our method solves a Boundary Integral Equation (BIE) for the potential flow field, from which we derive the governing equation of motion for multiple underwater rigid bodies using a variational principle. We evaluate our method across a range of underwater tasks, including object gripping and swimming. Compared to state-ofthe- art volumetric fluid solvers, our approach consistently reproduces similar behaviors while achieving up to 13× speedup. The example source code is available at https://github.com/guesss2022/fastMBCUI.
Description
CCS Concepts: Computing methodologies → Physical simulation
@inproceedings{10.2312:pg.20251268,
booktitle = {Pacific Graphics Conference Papers, Posters, and Demos},
editor = {Christie, Marc and Han, Ping-Hsuan and Lin, Shih-Syun and Pietroni, Nico and Schneider, Teseo and Tsai, Hsin-Ruey and Wang, Yu-Shuen and Zhang, Eugene},
title = {{Fast Multi-Body Coupling for Underwater Interactions}},
author = {Gao, Tianhong and Chen, Xuwen and Li, Xingqiao and Li, Wei and Chen, Baoquan and Pan, Zherong and Wu, Kui and Chu, Mengyu},
year = {2025},
publisher = {The Eurographics Association},
ISBN = {978-3-03868-295-0},
DOI = {10.2312/pg.20251268}
}