US 12,755,068 B2 · Techniques for simulating objects interacting in a real-time computing application

Abstract

Modeling contact between two or more objects (such as a robotic arm placing a block on a stack of blocks) or articulations of a series of linked joints (such as modeling a backhoe) in a real-time computing application can introduce additional energy into the system or fail to resolve a constraint imposed on the system. Current techniques attempt to resolve these issues, for example, by using very small time steps. Very small time steps, however, can significantly increase computational costs of the modeling simulation. The introduced simulation techniques for rigid bodies use a time interval to reduce linearization artifacts due to the small time steps and reduce computational costs with faster solver convergence by permitting more efficient bias calculations. High mass handling can also be improved through the more efficient bias calculations.

Claims22

Dependent claims

A rigid body solver system, comprising:

one or more processing units to:
receive a set of parameters for a rigid body simulation of objects interacting in a real-time computing application;
determine a time interval based on a time step and a number of solver iterations specified for the simulation;
accumulate a linear delta value and an angular delta value for each of the objects based on the time interval;
update a bias value using the linear delta value and the angular delta value, and
perform the simulation utilizing a rigid body solver, the time interval, the bias value, and the set of parameters, wherein the simulation is a rigid body contact or joint simulation between first and second objects of the objects and utilizes partial resolutions based on the time interval to update the set of parameters during the simulation.

3 more elements

Dependencies are inferred from the claim text.

Techniques for simulating objects interacting in a real-time computing application

Life of this patent

Techniques for simulating objects interacting in a real-time computing application

Life of this patent

Abstract

Claims22