Computerized rendering of objects having anisotropic elastoplasticity for codimensional frictional contact

A non-transitory computer readable storage medium storing a program to render an animated elastoplastic object, the program comprising instructions executable by a processor to:

• represent the animated elastoplastic object using a mesh representation including a plurality of particles, each particle of the particles including a mass and a momentum;
• transfer the masses and momentums of the particles to a grid representation of the animated elastoplastic object, the grid representation including a plurality of grid nodes;
• update momentums of the grid nodes of the grid representation based on an elastic force;
• transfer the momentums of the grid nodes to the particles of the mesh representation;
• tracking deformation of the animated elastoplastic object caused by a collision;
• updating orthogonal components of deformation gradients that correspond to an elastic response of a frictional contact of the animated elastoplastic object;
• determine updated positions of the particles of the mesh representation based on the transferred momentums;
• and
• update a visualization of the animated elastoplastic object based on the updated positions of the particles.