scholarly journals Fast and Feature-Complete Differentiable Physics Engine for Articulated Rigid Bodies with Contact Constraints

2021 ◽  
Author(s):  
Keenon Werling ◽  
Dalton Omens ◽  
Jeongseok Lee ◽  
Ioannis Exarchos ◽  
Karen Liu
Keyword(s):  
Rigid Bodies ◽  
Physics Engine

Numerical Simulation of a Floater in a Broken-Ice Field: Part I — Model Description

2012 ◽  
Author(s):  
Ivan Metrikin ◽  
Wenjun Lu ◽  
Raed Lubbad ◽  
Sveinung Løset ◽  
Marat Kashafutdinov
Keyword(s):  
Dimensional Space ◽  
Rigid Bodies ◽  
Interaction Process ◽  
Contact Forces ◽  
Model Description ◽  
Physics Engine ◽  
Broken Ice ◽  
Ice Floes ◽  
Rigid Multibody ◽  
Ice Model

This paper presents a novel concept for simulating the ice-floater interaction process. The concept is based on a mathematical model which emphasizes the station-keeping scenario, i.e. when the relative velocity between the floater and the ice is comparatively small. This means that the model is geared towards such applications as dynamic positioning in ice and ice management. The concept is based on coupling the rigid multibody simulations with the Finite Element Method (FEM) simulations. The rigid multibody simulation is implemented through a physics engine which is used to model the dynamic behaviour of rigid bodies which undergo large translational and rotational displacements (the floater and the ice floes). The FEM is used to simulate the material behaviour of the ice and the fluid, i.e. the ice breaking and the hydrodynamics of the ice floes. Within this framework, the physics engine is responsible for dynamically detecting the contacts between the objects in the calculation domain, and the FEM software is responsible for calculating the contact forces. The concept is applicable for simulations in a three-dimensional space (3D). The model described in this paper is divided into two main parts: the mathematical ice model and the mathematical floater model. The mathematical ice model allows modelling both intact level ice and discontinuous ice within a single framework. However, the primary focus of this paper is placed on modelling the broken ice conditions. A floater is modelled as a rigid body with 6 degrees of freedom, i.e. no deformations of the floater’s hull are allowed. Nevertheless, the hydrodynamics of the floater and the ice is considered within the outlined model. The presented approach allows implementing realistic, high fidelity 3D simulations of the ice-fluid-structure interaction process.

scholarly journals Simulation of Realistic Particles with Bullet Physics Engine

2019 ◽  
Vol 92 ◽  
pp. 14004
Author(s):  
Hantao He ◽  
Junxing Zheng ◽  
Quan Sun ◽  
Zhaochao Li
Keyword(s):  
Computer Games ◽  
Three Dimensional ◽  
Laser Scanner ◽  
Rigid Bodies ◽  
Particle Simulation ◽  
Simulation Framework ◽  
Physical Processes ◽  
Physics Engine ◽  
Collapse Process ◽  
Many Particles

The traditional discrete element method (DEM) uses clumps to approximate realistic particles, which is computationally demanding when simulating many particles. In this paper, the Bullet physics engine is applied as an alternative to simulate realistic particles. Bullet was originally developed for computer games to simulate physical and mechanical processes that occur in the real world to produce realistic game experiences. Physics engines integrate a variety of techniques to simulate complex physical processes in games, such as rigid bodies (e.g., rocks, and soil particles), soft bodies (e.g., clothes), and their interactions. Therefore, physics engines have the capabilities to simulate realistic particles. This paper integrates three-dimensional laser scanner and Bullet to form a realistic particle simulation framework. The soil specimen collapse process is simulated to demonstrate the capability of the proposed framework to simulate realistic particles.

Dynamics of Particles and Rigid Bodies

2005 ◽  
Author(s):  
Anil Rao
Keyword(s):  
Rigid Bodies ◽  
Dynamics Of Particles

Dynamic Analysis of 3D Multi Rigid Bodies with Discontinuous Velocities. (3rd Report). Target Capture Problem of Space Robot.

1996 ◽  
Vol 44 (514) ◽  
pp. 655-661 ◽  
Author(s):  
Shinji SUZUKI ◽  
Hirohisa KOJIMA ◽  
Daiichirou MATSUNAGA
Keyword(s):  
Dynamic Analysis ◽  
Rigid Bodies ◽  
Space Robot ◽  
Target Capture

On the Motion of Compliantly-Connected Rigid Bodies in Contact, Part 2: A System for Analyzing Designs for Assembly

1989 ◽  
Author(s):  
Dinesh K. Pai ◽  
Bruce R. Donald
Keyword(s):  
Rigid Bodies ◽  
Contact Part

The Dynamics of Coupled Planar Rigid Bodies. Part 2. Bifurcations, Periodic Solutions, and Chaos

1988 ◽  
Author(s):  
Y.-G. Oh ◽  
N. Sreenath ◽  
P. S. Krishnaprasad ◽  
J. E. Marsden
Keyword(s):  
Periodic Solutions ◽  
Rigid Bodies

Multiple Impacts in Rigid Bodies

2010 ◽  
Vol 14 (14) ◽  
pp. 1-14
Author(s):  
Mohamed Gharib ◽  
Yildirim Hurmuzlu
Keyword(s):  
Rigid Bodies ◽  
Multiple Impacts

Virtual Work & d’Alembert’s Principle

2018 ◽  
Author(s):  
Peter Mann
Keyword(s):  
Euler Equations ◽  
Virtual Work ◽  
Lagrange Equation ◽  
Classical Mechanics ◽  
Rigid Bodies ◽  
Gibbs Function ◽  
Constraint Force ◽  
Appell Equations ◽  
Jourdain's Principle ◽  
D'alembert's Principle

This chapter discusses virtual work, returning to the Newtonian framework to derive the central Lagrange equation, using d’Alembert’s principle. It starts off with a discussion of generalised force, applied force and constraint force. Holonomic constraints and non-holonomic constraint equations are then investigated. The corresponding principles of Gauss (Gauss’s least constraint) and Jourdain are also documented and compared to d’Alembert’s approach before being generalised into the Mangeron–Deleanu principle. Kane’s equations are derived from Jourdain’s principle. The chapter closes with a detailed covering of the Gibbs–Appell equations as the most general equations in classical mechanics. Their reduction to Hamilton’s principle is examined and they are used to derive the Euler equations for rigid bodies. The chapter also discusses Hertz’s least curvature, the Gibbs function and Euler equations.

Introductory Rotational Dynamics

2018 ◽  
Author(s):  
Peter Mann
Keyword(s):  
Angular Momentum ◽  
Angular Displacement ◽  
Rigid Bodies ◽  
Rotational Dynamics ◽  
Circular Motion ◽  
Uniform Rotation ◽  
Chemical Systems ◽  
Inertial Frames ◽  
Rotating Frames ◽  
Special Case

This chapter discusses the importance of circular motion and rotations, whose applications to chemical systems are plentiful. Circular motion is the book’s first example of a special case of motion using the laws developed in previous chapters. The chapter begins with the basic definitions of circular motion; as uniform rotation around a principle axis is much easier to consider, it is the focus of this chapter and is used to develop some key ideas. The chapter discusses angular displacement, angular velocity, angular momentum, torque, rigid bodies, orbital and spin momenta, inertia tensors and non-inertial frames and explores fictitious forces as well as transformations in rotating frames.

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