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dc.contributor.authorTomcin, Robinen_US
dc.contributor.authorSibbing, Dominiken_US
dc.contributor.authorKobbelt, Leifen_US
dc.contributor.editorB. Levy and J. Kautzen_US
dc.date.accessioned2015-03-03T12:27:46Z
dc.date.available2015-03-03T12:27:46Z
dc.date.issued2014en_US
dc.identifier.issn1467-8659en_US
dc.identifier.urihttp://dx.doi.org/10.1111/cgf.12322en_US
dc.description.abstractIn rigid body simulation, one must distinguish between contacts (so-called unilateral constraints) and articulations (bilateral constraints). For contacts and friction, iterative solution methods have proven most useful for interactive applications, often in combination with Shock-Propagation in cases with strong interactions between contacts (such as stacks), prioritizing performance and plausibility over accuracy. For articulation constraints, direct solution methods are preferred, because one can rely on a factorization with linear time complexity for tree-like systems, even in ill-conditioned cases caused by large mass-ratios or high complexity. Despite recent advances, combining the advantages of direct and iterative solution methods wrt. performance has proven difficult and the intricacy of articulations in interactive applications is often limited by the convergence speed of the iterative solution method in the presence of closed kinematic loops (i.e. auxiliary constraints) and contacts. We identify common performance bottlenecks in the dynamic simulation of unilateral and bilateral constraints and are able to present a simulation method, that scales well in the number of constraints even in ill-conditioned cases with frictional contacts, collisions and closed loops in the kinematic graph. For cases where many joints are connected to a single body, we propose a technique to increase the sparsity of the positive definite linear system. A solution to these bottlenecks is presented in this paper to make the simulation of a wider range of mechanisms possible in real-time without extensive parameter tuning.en_US
dc.publisherThe Eurographics Association and John Wiley and Sons Ltd.en_US
dc.titleEfficient Enforcement of Hard Articulation Constraints in the Presence of Closed Loops and Contactsen_US
dc.description.seriesinformationComputer Graphics Forumen_US


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