IEEE Trans Vis Comput Graph - Hybrid, Multi-Resolution Wires with Massless Frictional Contacts.

Tópicos

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Resumo

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 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 and deleted and propagated based on contact geometries and dry friction configurations. The method gives dramatic increase on 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.

Resumo Limpo

describ method visual interact simul wire contact rigid multibodi physic model use hybrid combin lump element massless quasistat represent latter base kinemat constraint preserv total length wire along segment path can involv multipl bodi simultan dri friction contact node use rope lasso fasten node provid stick slide friction along edg contact geometri lump element resolut adapt dynam base local stabil criteria becom coarser tension increas pure kinemat represent kinemat segment contact node ad delet propag base contact geometri dri friction configur method give dramat increas perform robust quick decim superflu node without loos stabil yet adapt complex configur mani contact high curvatur keep fix larg integr time step numer result demonstr perform stabil adapt multiresolut scheme present along array repres simul exampl illustr versatil friction contact model

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