Strongly Coupled Simulation of Magnetic Rigid Bodies
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Date
2024
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association and John Wiley & Sons Ltd.
Abstract
We present a strongly coupled method for the robust simulation of linear magnetic rigid bodies. Our approach describes the magnetic effects as part of an incremental potential function. This potential is inserted into the reformulation of the equations of motion for rigid bodies as an optimization problem. For handling collision and friction, we lean on the Incremental Potential Contact (IPC) method. Furthermore, we provide a novel, hybrid explicit / implicit time integration scheme for the magnetic potential based on a distance criterion. This reduces the fill-in of the energy Hessian in cases where the change in magnetic potential energy is small, leading to a simulation speedup without compromising the stability of the system. The resulting system yields a strongly coupled method for the robust simulation of magnetic effects. We showcase the robustness in theory by analyzing the behavior of the magnetic attraction against the contact resolution. Furthermore, we display stability in practice by simulating exceedingly strong and arbitrarily shaped magnets. The results are free of artifacts like bouncing for time step sizes larger than with the equivalent weakly coupled approach. Finally, we showcase the utility of our method in different scenarios with complex joints and numerous magnets.
Description
CCS Concepts: Computing methodologies → Physical simulation
@article{10.1111:cgf.15185,
journal = {Computer Graphics Forum},
title = {{Strongly Coupled Simulation of Magnetic Rigid Bodies}},
author = {Westhofen, Lukas and Fernández-Fernández, José Antonio and Jeske, Stefan Rhys and Bender, Jan},
year = {2024},
publisher = {The Eurographics Association and John Wiley & Sons Ltd.},
ISSN = {1467-8659},
DOI = {10.1111/cgf.15185}
}