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US 12,216,969 B2Granted
Methods of contact for simulation
AssigneeNVIDIA Corporation
InventorsMiles Macklin, Matthias Mueller-Fischer, Nuttapong Chentanez, Stefan Jeschke, Tae-Yong Kim
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Abstract
Apparatuses, systems, and techniques apply to a force-based (e.g., primal) formulation for object simulation. In at least one embodiment, updates to the force-based formulation is determined by solving for constraints that are to be satisfied when simulating rigid bodies (e.g., contact rich scenarios).
Claims20
A system, comprising:
- one or more computers having one or more processors to:
- determine one or more forces in a simulation of one or more objects to determine a set of constraints to be satisfied for the simulation where the one or more objects are to be simulated using a force-based formulation, wherein the set of constraints include at least one of velocity approximations, contact forces, or friction coefficients between the one or more objects;
- apply a preconditioner to the force-based formulation to perform a gradient descent;
- solve an energy minimization problem, using a primal formulation, to solve one or more constraints of the set of constraints for simulation;
- and
- simulate the one or more objects to satisfy the set of constraints of the simulation by updating states of the one or more objects based on results from performing the gradient descent.
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A processor, comprising:
- one or more arithmetic logic units (ALUs) to:
- determine one or more forces in a simulation of one or more objects to determine a set of constraints;
- perform collision detection of the one or more objects that are to be simulated using a primal formulation;
- generate a preconditioner for the primal formulation to perform a gradient descent;
- solve an energy minimization problem, using the primal formulation, to simulate the one or more objects;
- and
- update states of the one or more objects, based on results from the gradient descent and the set of constraints, to simulate collisions between the one or more objects.
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A method, comprising:
- using one or more graphics processing units (GPUs) to execute code that performs a set of instructions that:
- determines one or more constraints by at least determining one or more forces in a simulation of one or more objects;
- performs a gradient descent by applying a preconditioner for a primal formulation;
- solve an energy minimization problem, using the primal formulation, to solve the one or more constraints for simulation;
- and
- uses one or more gradients resulting from performing the gradient descent to update states of the one or more objects to satisfy the one or more constraints for the simulation.
3 more elements
Dependencies are inferred from the claim text.