Simulations of rigid objects with contact resolution and friction are ubiquitous in computer
graphics and robotics. Rigid body models do not deform. Equipped with just rotational and …

Barrier functions are crucial for maintaining an intersection-and inversion-free simulation
trajectory but existing methods, which directly use distance can restrict implementation …

In the field of trajectory generation for objects, ensuring continuous collision-free motion
remains a huge challenge, especially for non-convex geometries and complex …

Sum-of-Squares Programming (SOSP) has recently been introduced to graphics as a unified
way to address a large set of difficult problems involving higher order primitives …

We present SENC, a novel self-supervised neural cloth simulator that addresses the
challenge of cloth self-collision. This problem has remained unresolved due to the gap in …

In this letter, we introduce a generalized continuous collision detection (CCD) framework for
the mobile robot along the polynomial trajectory in cluttered environments including various …

Unstructured triangular and tetrahedral meshes are widely used in graphics, engineering,
and scientific computing due to their flexibility to represent objects with complex boundaries …

We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models
contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable …