2020
DOI: 10.1145/3386569.3392396
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Projective dynamics with dry frictional contact

Abstract: Projective dynamics was introduced a few years ago as a fast method to yield an approximate yet stable solution to the dynamics of nodal systems subject to stiff internal forces. Previous attempts to include contact forces in that framework considered adding a quadratic penalty energy to the global system, which however broke the simple - constant matrix - structure of the global linear equation, while failing to treat contact in an implicit manner. In this paper we propose a simple yet effective method to int… Show more

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Cited by 48 publications
(36 citation statements)
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References 23 publications
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“…Our study thus confirms the observations previously made by Li et al [2018] when comparing Argus to Bridson-Harmon. In contrast, Projective Friction manages to generate a correct threshold value for moderate friction coefficients (up to µ = 0.25). Yet, in accordance with Ly et al [2020]'s observations, the model reaches a convergence plateau which binds it to a mere sticking behavior for higher µ values.…”
Section: Results On the Stick-slip Testsupporting
confidence: 88%
See 1 more Smart Citation
“…Our study thus confirms the observations previously made by Li et al [2018] when comparing Argus to Bridson-Harmon. In contrast, Projective Friction manages to generate a correct threshold value for moderate friction coefficients (up to µ = 0.25). Yet, in accordance with Ly et al [2020]'s observations, the model reaches a convergence plateau which binds it to a mere sticking behavior for higher µ values.…”
Section: Results On the Stick-slip Testsupporting
confidence: 88%
“…We also use its coupling with the cloth simulator Arcsim, also known as the Argus code, which is freely distributed by their authors [Li et al 2018]. Additionally, we consider the much faster Projective Friction algorithm, which yields results qualitatively similar to Argus [Ly et al 2020]. We used the original code provided by the authors.…”
Section: Frictional Contactmentioning
confidence: 99%
“…We propose a similar smoothed friction model derived from a variational dissipation potential and compare primal and dual methods for solving the resulting optimization problem. Recent work has extended Projective Dynamics to handle nodal frictional contact for cloth and thin objects [LJBBD20, Dav20]. Since our method is based on the descent‐based Projective Dynamics solver of [WY16] it is not limited to nodal contact, and may also be used for rigid bodies.…”
Section: Related Workmentioning
confidence: 99%
“…In this work, we present a differentiable cloth simulator with extra care of its contact model. We choose to base our simulator on the state-of-the-art cloth simulator described by Ly et al [2020] and employs both its Projective Dynamics (PD) simulation method and its dry frictional contacts described by the Signorini-Coulomb law. Therefore, our differentiable cloth simulator inherits both the speedup and robustness from Projective Dynamics and the physical accuracy from the dry frictional contact model.…”
Section: Introductionmentioning
confidence: 99%
“…In this work, we present a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our differentiable simulator extends the state-ofthe-art cloth simulator [Ly et al 2020] based on Projective Dynamics and with dry frictional contact governed by the Signorini-Coulomb law. We derive gradients with contact in this forward simulation framework and speed up the computation with Jacobi iteration inspired by previous differentiable simulation work [Du et al 2021].…”
mentioning
confidence: 99%