Fast Multi-Body Coupling for Underwater Interactions

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dc.contributor.authorGao, Tianhongen_US
dc.contributor.authorChen, Xuwenen_US
dc.contributor.authorLi, Xingqiaoen_US
dc.contributor.authorLi, Weien_US
dc.contributor.authorChen, Baoquanen_US
dc.contributor.authorPan, Zherongen_US
dc.contributor.authorWu, Kuien_US
dc.contributor.authorChu, Mengyuen_US
dc.contributor.editorChristie, Marcen_US
dc.contributor.editorHan, Ping-Hsuanen_US
dc.contributor.editorLin, Shih-Syunen_US
dc.contributor.editorPietroni, Nicoen_US
dc.contributor.editorSchneider, Teseoen_US
dc.contributor.editorTsai, Hsin-Rueyen_US
dc.contributor.editorWang, Yu-Shuenen_US
dc.contributor.editorZhang, Eugeneen_US
dc.date.accessioned2025-10-07T06:03:09Z
dc.date.available2025-10-07T06:03:09Z
dc.date.issued2025
dc.description.abstractSimulating 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.en_US
dc.description.sectionheadersPhysical Simulation
dc.description.seriesinformationPacific Graphics Conference Papers, Posters, and Demos
dc.identifier.doi10.2312/pg.20251268
dc.identifier.isbn978-3-03868-295-0
dc.identifier.pages10 pages
dc.identifier.urihttps://doi.org/10.2312/pg.20251268
dc.identifier.urihttps://diglib.eg.org/handle/10.2312/pg20251268
dc.publisherThe Eurographics Associationen_US
dc.rightsAttribution 4.0 International License
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectCCS Concepts: Computing methodologies → Physical simulation
dc.subjectComputing methodologies → Physical simulation
dc.titleFast Multi-Body Coupling for Underwater Interactionsen_US
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