Simulation of Mooring Lines Based on Position-Based Dynamics Method

Abstract

The Position-Based Dynamics (PBD) method considers the rope as a series of particles in rope simulation. This paper introduces the PBD method and simulates mooring line in ship mooring simulation training system with four constraints, which are distance constraint, bending constraint, Long Range Attachment (LRA) constraint and pin constraint. In this paper, the LRA constraint method is applied to solve the overstretch problem of mooring line simulation caused by distance constraint and bending constraint. A pin constraint which combines two particles into one is put forward to achieve the connection effect between cable and the eye splice as well as the interaction between anchor and chain. Moreover, the method of Continuous Collision Detection (CCD) constraint is proposed to realize the collision detection between mooring lines and other objects. Compared with Newton's method, our adopted method is more efficient and robustness. Since it has sufficient visual plausibility and can realize real-time visualization, the simulation system developed by PBD method has a good training effect for crew.INDEX TERMS Ship mooring maneuvering, mooring lines, position-based dynamics, constrained dynamics, system simulation. III. POSITION-BASED DYNAMICS A. ALGORITHM OVERVIEWXIAOBIN JIANG received the bachelor's degree from the Shanghai Maritime University, China, in 2013. He is currently pursuing the master's and Ph.D. degrees with the Key Laboratory of Marine Simulation and Control for Ministry of Communications, Dalian Maritime University. His main research interests include virtual reality and system simulation.