Primal/Dual Descent Methods for Dynamics

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Date
2020
Journal Title
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Volume Title
Publisher
The Eurographics Association and John Wiley & Sons Ltd.
Abstract
We examine the relationship between primal, or force-based, and dual, or constraint-based formulations of dynamics. Variational frameworks such as Projective Dynamics have proved popular for deformable simulation, however they have not been adopted for contact-rich scenarios such as rigid body simulation. We propose a new preconditioned frictional contact solver that is compatible with existing primal optimization methods, and competitive with complementarity-based approaches. Our relaxed primal model generates improved contact force distributions when compared to dual methods, and has the advantage of being differentiable, making it well-suited for trajectory optimization. We derive both primal and dual methods from a common variational point of view, and present a comprehensive numerical analysis of both methods with respect to conditioning. We demonstrate our method on scenarios including rigid body contact, deformable simulation, and robotic manipulation.
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@article{
10.1111:cgf.14104
, journal = {Computer Graphics Forum}, title = {{
Primal/Dual Descent Methods for Dynamics
}}, author = {
Macklin, Miles
and
Erleben, Kenny
and
Müller, Matthias
and
Chentanez, Nuttapong
and
Jeschke, Stefan
and
Kim, Tae-Yong
}, year = {
2020
}, publisher = {
The Eurographics Association and John Wiley & Sons Ltd.
}, ISSN = {
1467-8659
}, DOI = {
10.1111/cgf.14104
} }
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