We propose a new fast and robust method to simulate various types of solid including rigid,
plastic and soft bodies as well as one, two and three dimensional structures such as ropes …

Efficient simulation of contact is of interest for numerous physics-based animation
applications. For instance, virtual reality training, video games, rapid digital prototy**, and …

Although mesh-based methods are efficient for simulating simple hyperelasticity,
maintaining and adapting a mesh-based representation is less appealing in more complex …

This paper introduces a new technique to synthesize dexterous manipulation of cloth. Given
a simple description of the desired cloth motion, our algorithm computes appropriate joint …

We propose a framework for the full two-way coupling of rigid and deformable bodies, which
is achieved with both a unified time integration scheme as well as individual two-way …

Dressing is one of the most common activities in human society. Perfecting the skill of
dressing can take an average child three to four years of daily practice. The challenge is …

We present a method for reducing the computational cost of elastic solid simulation by
treating connected sets of non-deforming elements as rigid bodies. Non-deforming elements …

We propose a fast and robust solver to simulate continuum-based deformable models with
constraints, in particular, rigid-body and joint constraints useful for soft articulated characters …

We propose a novel penalty force to enforce contacts with accurate Coulomb friction. The
force is compatible with fully-implicit time integration and the use of optimization-based …

This article presents a new method to achieve heterogeneous physical simulation, within the
same global system, of both deformable and rigid-bodies objects, whatever their intrinsic …