Rigid fluid

We present a framework for modeling solid-fluid phase change. Our framework is physically-motivated, with geometric constraints applied to define rigid dynamics using shape matching. In each simulation step, particle positions are updated using an extended SPH solver where they are treated as fluid. Then a geometric constraint is computed based on current particle configuration, which consists of an optimal translation and an optimal rotation. Our approach differs from methods such as [Carlson et al. 2004] in that we solve rigid dynamics by using a stable geometric constraint [Müller et al. 2005] embedded in a fluid simulator.