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Fast Simulation of Deformable Characters with Articulated Skeletons in Projective Dynamics
Projective dynamics method for simulating deformable character bodies coupled to articulated skeletons with robust contact handling.
Abstract
We propose a fast and robust solver to simulate continuum-based deformable models with constraints, in particular, rigid-body and joint constraints useful for soft articulated characters. Our method embeds degrees of freedom of both articulated rigid bodies and deformable bodies in one unified optimization problem, thus coupling the deformable and rigid bodies. Our method can efficiently simulate character models, with rigid-body parts (bones) being correctly coupled with deformable parts (flesh). Our method is stable because backward Euler time integration is applied to rigid as well as deformable degrees of freedom. Our method is rigorously derived from constrained Newtonian mechanics. In an example simulation with rigid bodies only, we demonstrate that our method converges to the same motion as classical explicitly integrated rigid body simulator.
How to read this
- Category
- Method: a coupled rigid-skeleton and deformable-body simulation solver
- Contributions
- A unified optimization that embeds articulated rigid-body (and joint) constraints together with deformable degrees of freedom, coupling flesh to bones
- A stable formulation using backward Euler integration on both rigid and deformable DOFs, derived from constrained Newtonian mechanics
- Robust contact and constraint handling for soft articulated characters
- Context
- Builds on Projective Dynamics (Bouaziz et al.), extending its fast constraint-projection framework to handle articulated rigid bodies and joints alongside continuum deformables.Builds on: Projective Dynamics: Fusing Constraint Projections for Fast Simulation
- Correctness
- Rigorously derived and shown to converge to a classical rigid-body simulator in a rigid-only case; as with projective dynamics the speed comes from a particular constraint formulation, so material accuracy and stiffness behavior under that approximation are worth checking for a given use case.
- Clarity
- Technical; a first pass gives the coupling idea, but the unified optimization and integration scheme need a careful second pass.
- How to read it
- First pass for the coupling concept and why backward Euler on both DOF types gives stability; second pass on the optimization derivation and constraint formulation if implementing or comparing solvers.
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