A Linear and Angular Momentum Conserving Hybrid Particle/Grid Iteration for Volumetric Elastic Contact
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Date
2023
Journal Title
Journal ISSN
Volume Title
Publisher
ACM Association for Computing Machinery
Abstract
We present a momentum conserving hybrid particle/grid iteration for resolving volumetric elastic collision. Our hybrid method uses implicit time stepping with a Lagrangian finite element discretization of the volumetric elastic material together with impulse-based collision-correcting momentum updates designed to exactly conserve linear and angular momentum. We use a two-step process for collisions: first we use a novel gridbased approach that leverages the favorable collision resolution properties of Particle-In-Cell (PIC) techniques, then we finalize with a classical collision impulse strategy utilizing continuous collision detection. Our PIC approach uses Affine-Particle-In-Cell momentum transfers as collision preventing impulses together with novel perfectly momentum conserving boundary resampling and downsampling operators that prevent artifacts in portions of the boundary where the grid resolution is of disparate resolution. We combine this with a momentum conserving augury iteration to remove numerical cohesion and model sliding friction. Our collision strategy has the same continuous collision detection as traditional approaches, however our hybrid particle/grid iteration drastically reduces the number of iterations required. Lastly, we develop a novel symmetric positive semi-definite Rayleigh damping model that increases the convexity of the nonlinear systems associated with implicit time stepping. We demonstrate the robustness and efficiency of our approach in a number of collision intensive examples.
Description
CCS Concepts: Computing methodologies -> Computer graphics; Mathematics of computing? Discretization
@inproceedings{10.1145:3606924,
booktitle = {Proceedings of the ACM on Computer Graphics and Interactive Techniques},
editor = {Wang, Huamin and Ye, Yuting and Victor Zordan},
title = {{A Linear and Angular Momentum Conserving Hybrid Particle/Grid Iteration for Volumetric Elastic Contact}},
author = {Razon, Alan Marquez and Chen, Yizhou and Yushan, Han and Gagniere, Steven and Tupek, Michael and Teran, Joseph},
year = {2023},
publisher = {ACM Association for Computing Machinery},
ISSN = {2577-6193},
ISBN = {},
DOI = {10.1145/3606924}
}