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Hybrid, Multiresolution Wires with Massless Frictional Contacts
July 2011 (vol. 17 no. 7)
pp. 970-982
Martin Servin, Umeå University, Umeå
Claude Lacoursière, Umeå University, Umeå
Fredrik Nordfelth, Algoryx Simulation, Umeå
Kenneth Bodin, Umeå University, Umeå
We describe a method for the visual interactive simulation of wires contacting with rigid multibodies. The physical model used is a hybrid combining lumped elements and massless quasistatic representations. The latter is based on a kinematic constraint preserving the total length of the wire along a segmented path which can involve multiple bodies simultaneously and dry frictional contact nodes used for roping, lassoing, and fastening. These nodes provide stick and slide friction along the edges of the contacting geometries. The lumped element resolution is adapted dynamically based on local stability criteria, becoming coarser as the tension increases, and up to the purely kinematic representation. Kinematic segments and contact nodes are added, deleted, and propagated based on contact geometries and dry friction configurations. The method gives a dramatic increase in both performance and robustness because it quickly decimates superfluous nodes without loosing stability, yet adapts to complex configurations with many contacts and high curvature, keeping a fixed, large integration time step. Numerical results demonstrating the performance and stability of the adaptive multiresolution scheme are presented along with an array of representative simulation examples illustrating the versatility of the frictional contact model.

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Index Terms:
Computer graphics, three-dimensional, graphics and realism, animation, virtual reality, adaptive resolution, strands, wires, physics simulation, dry frictional contacts.
Citation:
Martin Servin, Claude Lacoursière, Fredrik Nordfelth, Kenneth Bodin, "Hybrid, Multiresolution Wires with Massless Frictional Contacts," IEEE Transactions on Visualization and Computer Graphics, vol. 17, no. 7, pp. 970-982, July 2011, doi:10.1109/TVCG.2010.122
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