Nesme, MatthieuPayan, YohanFaure, FrançoisJohn Dingliana and Fabio Ganovelli2015-07-192015-07-192005https://doi.org/10.2312/egs.20051028This paper discusses FEM-based simulations of soft bodies in terms of speed and robustness. To be physically plausible, three fundamental laws must be respected: rotational invariance, Newton's law and Euler's law. We show that precomputed strain-displacement matrices generate nonphysical torques which can lead to visual artifacts. We then derive the fastest FEM-based method meeting our criteria of plausibility and robustness and discuss their limitations.10.2312/egs.2005102877-80