多刚体动力学.pptVIP

Mixing deformable and rigid-body mechanics simulation Julien Lenoir Sylvère Fonteneau Alcove Project - INRIA Futurs - LIFL - University of Lille (France) Outlines Introduction  Proposition for articulated bodies A generic framework Results Introduction Mixing different physical formalism (Newton, Lagrange,…) Deformable and rigid-body Propose a dedicate architecture for articulated bodies Introduction - Objectives A physically based simulation of multiple objects (rigid-bodies and/or deformable bodies) with different physical formalism - Constrained these objects = articulated bodies- propose a generic simulation framework dedicated to articulated bodies. Previous Works [TR 97 Baraff and Witkin] Constrained different simulators Iterative algorithm [Visual Computer 03 Jansson and Vergeest] One object = set of mass-spring/rigid bodies elements Outlines Previous works, Objectives Proposition for articulated bodies A generic framework Results Dynamics simulation One object: Dynamics simulation = ODE of order 2q degrees of freedom, f external contributionmatrices: M (mass), C (viscosity), K (rigidity) M.A=B Multiple bodies simulation Independent simulation without constraints Example of heterogeneous simulation Dynamics spline [Remion99]: Lagrange physical formalism, continuous model Rigid-body : Newton-Euler formalism Mass spring net : Newton formalism, discrete model A generic framework Example of dynamics bodies Constrain a dynamic simulation The overall constraints method: Constraint between objects Lagrange multipliers = Baumgarte scheme = L.A=E 1 lagrange multiplier (λi) for 1 constraint= 1 condition on a degree of freedom(examples: fixed point, plan) Constrain a dynamic simulation Resolution:Decomposition of the acceleration A [Remion00]: tendency At (computed by each object) correction Ac Constrain a dynamic simulation Resolution: matrices update automaton Outlines Previous works, Objectives Proposition for articulated bodies