Backward steps in rigid body simulation
- 1 August 2008
- journal article
- research article
- Published by Association for Computing Machinery (ACM) in ACM Transactions on Graphics
- Vol. 27 (3), 1-10
- https://doi.org/10.1145/1360612.1360624
Abstract
Physically based simulation of rigid body dynamics is commonly done by time-stepping systems forward in time. In this paper, we propose methods to allow time-stepping rigid body systems back-ward in time. Unfortunately, reverse-time integration of rigid bodies involving frictional contact is mathematically ill-posed, and can lack unique solutions. We instead propose time-reversed rigid body integrators that can sample possible solutions when unique ones do not exist. We also discuss challenges related to dissipation-related energy gain, sensitivity to initial conditions, stacking, constraints and articulation, rolling, sliding, skidding, bouncing, high angular velocities, rapid velocity growth from micro-collisions, and other problems encountered when going against the usual flow of time.Keywords
Funding Information
- National Science Foundation (CAREER-0430528)
This publication has 24 references indexed in Scilit:
- Many-worlds browsing for control of multibody dynamicsACM Transactions on Graphics, 2007
- Fast frictional dynamics for rigid bodiesACM Transactions on Graphics, 2005
- Fluid control using the adjoint methodACM Transactions on Graphics, 2004
- Motion sketching for control of rigid-body simulationsACM Transactions on Graphics, 2003
- Nonconvex rigid bodies with stackingACM Transactions on Graphics, 2003
- Rigid-Body Dynamics with Friction and ImpactSIAM Review, 2000
- Convergence of a Time-Stepping Scheme for Rigid-Body Dynamics and Resolution of Painlevé's ProblemArchive for Rational Mechanics and Analysis, 1998
- Realistic animation of rigid bodiesACM SIGGRAPH Computer Graphics, 1988
- Spacetime constraintsACM SIGGRAPH Computer Graphics, 1988
- Coefficient of Restitution Interpreted as Damping in VibroimpactJournal of Applied Mechanics, 1975