Elastic and plastic deformations with rigid body dynamics

We present a fast and robust method of simulating flexible materials that offers significant advantages over existing methods. Our approach supports complex geometry (concave features, holes, selfintersections), requires no topology restrictions, boasts fast collisions, maintains volume, is numerically-stable for large time steps, and supports dynamic plasticity. Our approach provides an intuitive solution for modeling the complex dynamics of deformable solids with a predictable and production-friendly workflow.