Multibody Dynamics using Chunked BVH for Collision Detection скачать в хорошем качестве

Multibody Dynamics using Chunked BVH for Collision Detection

All the simulations shown use a chunked kDOP bounding volume hierarchy (BVH) for doing collision detection between tetrahedral mesh representations of the objects shown in the scenes. The collision detection was implemented using OpenCL and is running on GPU. In the simulations the OPPOSITE method was used to generate contact points for the simulations. Notice that there are penetration and sticking artefacts from both the discrete collision detection as well as the normal generation method. All stabilization terms in the model have been turned off. Hence, error correction is not done towards constraint drifting and penetration errors. The contact force solver is a Gauss-Seidel variant and uses 1000 iterations per simulation step. The contact force model is based on a proximal map formulation allowing for general descriptions of friction as convex multi-set force laws.