Simulation of rigid bodies

A non-transitory computer-readable medium with instructions stored thereon that, responsive to execution by a processing device, cause the processing device to perform operations comprising:

• obtaining a body graph for a rigid body object, wherein each node of the body graph represents a respective splinter of two or more splinters that together form the rigid body object;
• obtaining a constraint graph for the rigid body object, wherein each node of the constraint graph represents a respective constraint of a plurality of constraints associated with the rigid body object;
• determining an input state of the rigid body object in a virtual environment, wherein the input state comprises one or more of a position or an orientation associated with the rigid body object;
• performing graph elimination on the body graph and the constraint graph based on the input state of the rigid body object to determine an updated state of the rigid body object, wherein the updated state includes at least one of:
• an updated position or an updated orientation of the rigid body object;
• and
• causing the rigid body object in the updated state to be displayed within the virtual environment.

A system comprising:

• a memory with instructions stored thereon;
• and
• a processing device, coupled to the memory, the processing device configured to access the memory and execute the instructions, wherein the instructions cause the processing device to perform operations including:
• obtaining a body graph for a rigid body object, wherein each node of the body graph represents a respective splinter of two or more splinters that together form the rigid body object;
• obtaining a constraint graph for the rigid body object, wherein each node of the constraint graph represents a respective constraint of a plurality of constraints associated with the rigid body object;
• determining an input state of the rigid body object in a virtual environment, wherein the input state comprises one or more of a position or an orientation associated with the rigid body object;
• performing graph elimination on the body graph and the constraint graph based on the input state of the rigid body object to determine an updated state of the rigid body object, wherein the updated state includes at least one of:
• an updated position or an updated orientation of the rigid body object;
• and
• causing the rigid body object in the updated state to be displayed within the virtual environment.