Massless Cable for Real-time Simulation

dc.contributor.authorServin, M.en_US
dc.contributor.authorLacoursiere, C.en_US
dc.date.accessioned2015-02-21T12:41:46Z
dc.date.available2015-02-21T12:41:46Z
dc.date.issued2007en_US
dc.description.abstractA technique for real-time simulation of hoisting cable systems based on a multibody nonideal constraint is presented. The hoisting cable constraint is derived from the cable internal energies for stretching and twisting. Each hoisting cable introduces two constraint equations, one for stretching and one for torsion, which include all the rigid bodies attached by the same cable. The computation produces the global tension and torsion in the cable as well as the resulting forces and torques on each attached body. The complexity of the computation grows linearly with the number of bodies attached to a given cable and is weakly coupled to the rest of the simulation. The nonideal constraint formulation allows stable simulations of cables over wide ranges of linear and torsional stiffness, including the rigid limit. This contrasts with lumped element formulations including the cable internal degrees of freedom in which computational complexity grows at least linearly with the number of cable elements - usually proportional to cable length - and where numerical stability is sensitive to the mass ratio between the load and the lumped elements.en_US
dc.description.number2en_US
dc.description.seriesinformationComputer Graphics Forumen_US
dc.description.volume26en_US
dc.identifier.doi10.1111/j.1467-8659.2007.01014.xen_US
dc.identifier.issn1467-8659en_US
dc.identifier.pages172-184en_US
dc.identifier.urihttps://doi.org/10.1111/j.1467-8659.2007.01014.xen_US
dc.publisherThe Eurographics Association and Blackwell Publishing Ltden_US
dc.titleMassless Cable for Real-time Simulationen_US
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