Simulating stiff materials in applications where deformations are either not significant or can
safely be ignored is a pivotal task across fields. Rigid body modeling has thus long …

Newton's method has been a popular choice [Baraff and Witkin 1998] for solving the
variational form [Kane et al. 2000; Martin et al. 2011] associated with various deformable …

Frictional contacts are the primary way by which physical bodies interact, yet they pose
many numerical challenges. Previous works have devised robust methods for handling …

We present an algorithm for fast continuous collision detection between points and signed
distance fields, and demonstrate how to robustly use it for 6-DoF haptic rendering of contact …

Collision detection algorithms has been investigated since decades. Consequently, there
already exist a wide spectrum of different approaches. In this chapter, we give a broad …

We examine the relationship between primal, or force‐based, and dual, or constraint‐based
formulations of dynamics. Variational frameworks such as Projective Dynamics have proved …

Physics-based animation has emerged as a core area of computer graphics finding
widespread application in the film and video game industries as well as in areas such as …

We propose an efficient cloth simulation method that combines the merits of two drastically
different numerical procedures, namely the subspace integration and parallelizable iterative …

Pressure Field Contact (PFC) was recently introduced as a method for detailed modeling of
contact interface regions at rates much faster than elasticity-theory models, while at the …

This paper presents a numerically stable method for rigid body simulation of unstructured
meshes undergoing forceful contact, such as in robot locomotion and manipulation. The key …