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Inverse Kinematic Solutions for Articulated Characters using Massively Parallel Architectures and Differential Evolutionary Algorithms 使用大规模并行架构和微分进化算法的铰接字符的逆运动学解
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/vriphys.20171085
Ben Kenwright
{"title":"Inverse Kinematic Solutions for Articulated Characters using Massively Parallel Architectures and Differential Evolutionary Algorithms","authors":"Ben Kenwright","doi":"10.2312/vriphys.20171085","DOIUrl":"https://doi.org/10.2312/vriphys.20171085","url":null,"abstract":"This paper presents a Differential Evolutionary (DE) algorithm for solving multi-objective kinematic problems (e.g., endeffector locations, centre-of-mass and comfort factors). Inverse kinematic problems in the context of character animation systems are one of the most challenging and important conundrums. The problems depend upon multiple geometric factors in addition to cosmetic and physical aspects. Further complications stem from the fact that there may be non or an infinite number of solutions to the problem (especially for highly redundant manipulator structures, such as, articulated characters). What is more, the problem is global and tightly coupled so small changes to individual link’s impacts the overall solution. Our method focuses on generating approximate solutions for a range of inverse kinematic problems (for instance, positions, orientations and physical factors, like overall centre-of-mass location) using a Differential Evolutionary algorithm. The algorithm is flexible enough that it can be applied to a range of open ended problems including highly non-linear discontinuous systems with prioritisation. Importantly, evolutionary algorithms are typically renowned for taking considerable time to find a solution. We help reduce this burden by modifying the algorithm to run on a massively parallel architecture (like the GPU) using a CUDAbased framework. The computational model is evaluated using a variety of test cases to demonstrate the techniques viability (speed and ability to solve multi-objective problems). The modified parallel evolutionary solution helps reduce execution times compared to the serial DE, while also obtaining a solution within a specified margin of error (<1%).","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129776848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Comparison of Mixed Linear Complementarity Problem Solvers for Multibody Simulations with Contact 含接触多体仿真的混合线性互补问题求解方法比较
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/vriphys.20181063
A. Enzenhöfer, S. Andrews, M. Teichmann, J. Kövecses
{"title":"Comparison of Mixed Linear Complementarity Problem Solvers for Multibody Simulations with Contact","authors":"A. Enzenhöfer, S. Andrews, M. Teichmann, J. Kövecses","doi":"10.2312/vriphys.20181063","DOIUrl":"https://doi.org/10.2312/vriphys.20181063","url":null,"abstract":"The trade-off between accuracy and computational performance is one of the central conflicts in real-time multibody simulations, much of which can be attributed to the method used to solve the constrained multibody equations. This paper examines four mixed linear complementarity problem (MLCP) algorithms when they are applied to physical problems involving frictional contact. We consider several different, and challenging, test cases such as grasping, stability of static models, closed loops, and long chains of bodies. The solver parameters are tuned for these simulations and the results are evaluated in terms of numerical accuracy and computational performance. The objective of this paper is to determine the accuracy properties of each solver, find the appropriate method for a defined task, and thus draw conclusions regarding the applicability of each method.","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129634810","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Controlling the Shape and Motion of Plumes in Explosion Simulations 爆炸模拟中羽流的形状和运动控制
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/vriphys.20141225
Genichi Kawada, T. Kanai
{"title":"Controlling the Shape and Motion of Plumes in Explosion Simulations","authors":"Genichi Kawada, T. Kanai","doi":"10.2312/vriphys.20141225","DOIUrl":"https://doi.org/10.2312/vriphys.20141225","url":null,"abstract":"We propose a fluid simulation method with controlling the shape and motion of rising fire and smoke, called plumes, in the incompressible phase of explosion phenomenon. With our method, plumes are generated based on physical phenomenon called entrainment, which strongly characterizes plume behaviors such as rise and circulation. We consider to newly utilize properties characterizing these behavior (physical property). Then, control elements of plume such as rising velocity, size, and the magnitude and position of swirling motions are individually adjusted using these physical properties. With this method, each control element is adjusted by the velocity field which represents the corresponding behavior. By combining all velocity fields and applying those fields to grid-based simulation, plumes can be generated. Our method is unique in that it can both generate and control plumes based on one unified physical model, and this type of model is firstly proposed here. Consequently, our method realizes plumes in the incompressible phase which maintain their physical characteristics as much as possible while being controlled by the user.","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126754449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Unified Simulation of Rigid and Flexible Bodies Using Position Based Dynamics 基于位置动力学的刚柔体统一仿真
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/vriphys.20171083
Mihai Frâncu, F. Moldoveanu
{"title":"Unified Simulation of Rigid and Flexible Bodies Using Position Based Dynamics","authors":"Mihai Frâncu, F. Moldoveanu","doi":"10.2312/vriphys.20171083","DOIUrl":"https://doi.org/10.2312/vriphys.20171083","url":null,"abstract":"In this paper we present a new position based approach for simulating rigid and flexible bodies with two-way coupling. This is achieved by expressing all the dynamics as constraints and running them in the same solver. Our main contribution is an accurate contact and Coulomb friction model based on a fixed point iteration of a cone complementarity problem. We formulate the problem as a nonlinear convex minimization at position level and solve it using a new accelerated form of projected Jacobi. We add elasticity to the constraints by means of regularization and show how to add more damping in a credible manner. We also use this viscoelastic model to build an accurate position-based finite element solver for soft bodies. The novelty of this solver is that it is no longer an approximation and it is based directly on the elasticity theory of continuous media.","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129196937","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Approximate Air-Fluid Interactions for SPH SPH的近似空气-流体相互作用
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/vriphys.20171081
Christoph Gissler, Stefan Band, A. Peer, Markus Ihmsen, M. Teschner
{"title":"Approximate Air-Fluid Interactions for SPH","authors":"Christoph Gissler, Stefan Band, A. Peer, Markus Ihmsen, M. Teschner","doi":"10.2312/vriphys.20171081","DOIUrl":"https://doi.org/10.2312/vriphys.20171081","url":null,"abstract":"Computing the forces acting from a surrounding air phase onto an SPH free-surface fluid is challenging. For full multiphase simulations the computational overhead is significant and stability issues due to the high density ratio may arise. In contrast, the air-fluid interactions can be approximated efficiently by employing a drag equation. Here, for plausible effects, the parameterization is important but challenging. We present an approach to calculate the parameters of the used drag equation in a physically motivated way. We approximate the deformation and occlusion of particles to determine their drag coefficient and exposed surface area. The resulting effects are validated by comparing them to the results of a multiphase SPH simulation. We further show the practicality of our approach by combining it with different types of SPH solvers and by simulating multiple, complex scenes.","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114241464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Parallel Simulation of Inextensible Cloth 不可伸缩布的并行仿真
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys08/047-055
Jan Bender, D. Bayer
{"title":"Parallel Simulation of Inextensible Cloth","authors":"Jan Bender, D. Bayer","doi":"10.2312/PE/vriphys/vriphys08/047-055","DOIUrl":"https://doi.org/10.2312/PE/vriphys/vriphys08/047-055","url":null,"abstract":"This paper presents an efficient simulation method for parallel cloth simulation. The presented method uses an impulse-based approach for the simulation. Cloth simulation has many application areas like computer animation, computer games or virtual reality. Simulation methods often make the assumption that cloth is an elastic material. In this way the simulation can be performed very efficiently by using spring forces. These methods disregard the fact that many textiles cannot be stretched significantly. The simulation of inextensible textiles with methods based on spring forces leads to stiff differential equations which cause a loss of performance. In contrast to that, in this paper a method is presented that simulates cloth by using impulses. The mesh of a cloth model is subdivided into strips of constraints. The impulses for each strip can be computed in linear time. The strips that have no common particle are independent from each other and can be solved in parallel. The impulse-based method allows the realistic simulation of inextensible textiles in real-time.","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121553744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 23
A Real-time Implementation of the Dynamic Particle Coating Method on a GPU Architecture 动态粒子涂层方法在GPU架构上的实时实现
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys07/069-078
Kévin Sillam, Matthieu Evrard, Annie Luciani
{"title":"A Real-time Implementation of the Dynamic Particle Coating Method on a GPU Architecture","authors":"Kévin Sillam, Matthieu Evrard, Annie Luciani","doi":"10.2312/PE/vriphys/vriphys07/069-078","DOIUrl":"https://doi.org/10.2312/PE/vriphys/vriphys07/069-078","url":null,"abstract":"This paper deals with a real-time implementation on graphic processor of the “dynamic particle coating method” (DPCM) first proposed by [HL02] and founded on a mass-interaction formalism. When this method was proposed, it was too much time-consuming to be inserted in an interactive application. This paper solves this major drawback. Our real-time implementation allows inserting this method in a real-time simulation chain composed of a haptic device, an upstream mass-interaction model that interacts with the user through this device and the new real-time implementation of the DPCM method to visualize this model","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133861537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
From Interactive to Immersive Molecular Dynamics 从互动到沉浸式分子动力学
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys08/089-096
N. Férey, O. Delalande, G. Grasseau, M. Baaden
{"title":"From Interactive to Immersive Molecular Dynamics","authors":"N. Férey, O. Delalande, G. Grasseau, M. Baaden","doi":"10.2312/PE/vriphys/vriphys08/089-096","DOIUrl":"https://doi.org/10.2312/PE/vriphys/vriphys08/089-096","url":null,"abstract":"Molecular Dynamics simulations are nowadays routinely used to complement experimental studies and overcome some of their limitations. In particular, current experimental techniques do not allow to directly observe the full dynamics of a macromolecule at atomic detail. Molecular simulation engines provide time-dependent atomic positions, velocities and system energies according to biophysical models. Many molecular simulation engines can now compute a molecular dynamics trajectory of interesting biological systems in interactive time. This progress has lead to a new approach called Interactive Molecular Dynamics. It allows the user to control and visualise a molecular simulation in progress. We have developed a generic library, called MDDriver, in order to facilitate the implementation of such interactive simulations. It allows one to easily create a network connection between a molecular user interface and a physically-based simulation. We use this library in order to study a biomolecular system, simulated by various interaction-enabled molecular engines and models. We use a classical molecular visualisation tool and a haptic device to control the dynamic behavior of the molecule. This approach provides encouraging results for interacting with a biomolecule and understanding its dynamics. Starting from this initial success, we decided to use Virtual Reality (VR) functionalities more intensively, by designing a VR framework dedicated to immersive and interactive molecular simulations. This framework is based on MDDriver, on the visualisation toolkit VTK, and on the vtkVRPN library, which encapsulates the VRPN library into VTK. ACM","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"247 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133486545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
A study of the Manipulability of the PHANToM OMNI Haptic Interface 幻影OMNI触觉界面可操控性研究
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys06/127-128
Jose San Martin, G. Triviño
{"title":"A study of the Manipulability of the PHANToM OMNI Haptic Interface","authors":"Jose San Martin, G. Triviño","doi":"10.2312/PE/vriphys/vriphys06/127-128","DOIUrl":"https://doi.org/10.2312/PE/vriphys/vriphys06/127-128","url":null,"abstract":"In order to perform the assembly of a haptic device in the set of a simulator, we have to check that it operates in its optimal workspace. In general it will depend on the required functionality. One of the characteristics that define the performance of a haptic device is the manipulability. In this paper we are going to accomplish a kinematics study of the device PHANToM OMNi. This study will produce as result the calculation of a map, in which to each of the points of the workspace, we assign a value of manipulability. In this way it is obtained a drawing that identifies the best zones of functioning of the device and therefore those in which we wish that our manipulator preferably works as a design criteria.","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123930892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Optimized Impulse-Based Dynamic Simulation 优化的基于脉冲的动态仿真
Workshop on Virtual Reality Interactions and Physical Simulations Pub Date : 1900-01-01 DOI: 10.2312/PE/vriphys/vriphys09/125-133
D. Bayer, Raphael Diziol, Jan Bender
{"title":"Optimized Impulse-Based Dynamic Simulation","authors":"D. Bayer, Raphael Diziol, Jan Bender","doi":"10.2312/PE/vriphys/vriphys09/125-133","DOIUrl":"https://doi.org/10.2312/PE/vriphys/vriphys09/125-133","url":null,"abstract":"www.eg.org diglib.eg.org Abstract The impulse-based dynamic simulation is a recent method to compute physically based simulations. It supports the simulation of rigid-bodies and particles connected by all kinds of implicit constraints. In recent years the impulse-based dynamic simulation has been more and more used to simulate deformable bodies as well. These simulations create new requirements for the runtime of the method because very large systems of connected particles have to be simulated to get results of high quality. In this paper several runtime optimizations for the impulse-based dynamic simulation are presented. They allow to compute the same simulations at a fraction of time needed for the original method. Therefore, larger systems or simulations with increased accuracy can be simulated in realtime.","PeriodicalId":446363,"journal":{"name":"Workshop on Virtual Reality Interactions and Physical Simulations","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129703610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
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