Numerical methods for linear complementarity problems in physics-based animation

TY - GEN

T1 - Numerical methods for linear complementarity problems in physics-based animation

AU - Erleben, Kenny

PY - 2013

Y1 - 2013

N2 - In physics-based animation linear complementarity problems (LCPs) have historically been used as models of contact forces between rigid bodies. Recently LCPs are being deployed for other types of animation like deformable models, fluids, and granular material. Thus, LCPs are becoming a general important fundamental model. Hence, there is a real need for providing the numerical foundation for solving LCPs with numerical methods that are suitable for computer graphics. This is the void that these course notes tries to fill out - providing a toolbox of solutions for people in physics-based animation. The contribution of these notes is twofold. First, we explain the nature of LCPs and discuss the properties of the LCPs encountered in physics-based animation. Second, we present a range of numerical methods for solving the LCPs. To help make our results available to others we supplement our course notes with Matlab implementations of all iterative methods discussed.

AB - In physics-based animation linear complementarity problems (LCPs) have historically been used as models of contact forces between rigid bodies. Recently LCPs are being deployed for other types of animation like deformable models, fluids, and granular material. Thus, LCPs are becoming a general important fundamental model. Hence, there is a real need for providing the numerical foundation for solving LCPs with numerical methods that are suitable for computer graphics. This is the void that these course notes tries to fill out - providing a toolbox of solutions for people in physics-based animation. The contribution of these notes is twofold. First, we explain the nature of LCPs and discuss the properties of the LCPs encountered in physics-based animation. Second, we present a range of numerical methods for solving the LCPs. To help make our results available to others we supplement our course notes with Matlab implementations of all iterative methods discussed.

U2 - 10.1145/2504435.2504443

DO - 10.1145/2504435.2504443

M3 - Article in proceedings

SN - 978-1-4503-2339-0

BT - ACM SIGGRAPH 2013 Courses

PB - Association for Computing Machinery

T2 - 40th International SIGGRAPH Conference and Exhibition on Computer Graphics and Interactive Techniques

Y2 - 21 June 2013 through 25 June 2013

ER -