85:
46:). The scope of soft body dynamics is quite broad, including simulation of soft organic materials such as muscle, fat, hair and vegetation, as well as other deformable materials such as clothing and fabric. Generally, these methods only provide visually plausible emulations rather than accurate scientific/engineering simulations, though there is some crossover with scientific methods, particularly in the case of finite element simulations. Several
522:(PBD), an approach based on constraint relaxation. The mass-spring model is converted into a system of constraints, which demands that the distance between the connected nodes be equal to the initial distance. This system is solved sequentially and iteratively, by directly moving nodes to satisfy each constraint, until sufficiently stiff cloth is obtained. This is similar to a
562:(objects are advanced only until a collision occurs, and the collision is handled before proceeding). The former is easier to implement and faster, but leads to failure to detect collisions (or detection of spurious collisions) if objects move fast enough. Real-time systems generally have to use discrete collision detection, with other
360:). Expressing the energy of a surface in terms of its local deformation (the energy is due to a combination of stretching and bending), the local force on the surface is given by differentiating the energy with respect to position, yielding an equation of motion which can be solved in the standard ways.
111:
representation of the surface of the object, or from a three-dimensional network of nodes and edges modeling the internal structure of the object (or even a one-dimensional system of links, if for example a rope or hair strand is being simulated). Additional springs between nodes can be added, or the
569:
Detection of collisions between cloth and environmental objects with a well defined "inside" is straightforward since the system can detect unambiguously whether the cloth mesh vertices and faces are intersecting the body and resolve them accordingly. If a well defined "inside" does not exist (e.g.
573:
However, detection of collisions between two polygonal cloths (or collision of a cloth with itself) via discrete collision detection is much more difficult, since there is no unambiguous way to locally detect after a timestep whether a cloth node which has penetrated is on the "wrong" side or not.
550:
Realistic interaction of simulated soft objects with their environment may be important for obtaining visually realistic results. Cloth self-intersection is important in some applications for acceptably realistic simulated garments. This is challenging to achieve at interactive frame rates,
54:
570:
in the case of collision with a mesh which does not form a closed boundary), an "inside" may be constructed via extrusion. Mutual- or self-collisions of soft bodies defined by tetrahedra is straightforward, since it reduces to detection of collisions between solid tetrahedra.
430:, used in a variety of contexts in video games, animation, and film. It can also be used to simulate two dimensional sheets of materials other than textiles, such as deformable metal panels or vegetation. In video games it is often used to enhance the realism of clothed
578:
has presented a method which uses a global topological analysis of mesh intersections in configuration space to detect and resolve self-interpenetration of cloth. Currently, this is generally too computationally expensive for real-time cloth systems.
535:
conservation. Additional position constraints can be applied, for example to keep the nodes within desired regions of space (sufficiently close to an animated model for example), or to maintain the body's overall shape via shape matching.
526:
solution of the implicit matrix system for the mass-spring model. Care must be taken though to solve the constraints in the same sequence each timestep, to avoid spurious oscillations, and to make sure that the constraints do not violate
42:, the shape of soft bodies can change, meaning that the relative distance of two points on the object is not fixed. While the relative distances of points are not fixed, the body is expected to retain its shape to some degree (unlike a
457:
representation of the cloth) determines the internal spring forces acting on the nodes at each timestep (in combination with gravity and applied forces). Newton's second law gives equations of motion which can be solved via standard
284:
58:
57:
59:
695:
is especially suited to modelling fracture as it includes a realistic model of the distribution of internal stresses in the material, which physically is what determines when fracture occurs, according to
582:
To do collision detection efficiently, primitives which are certainly not colliding must be identified as soon as possible and discarded from consideration to avoid wasting time. To do this, some form of
574:
Solutions involve either using the history of the cloth motion to determine if an intersection event has occurred, or doing a global analysis of the cloth state to detect and resolve self-intersections.
56:
336:
system) use a finite-element-based approach for their soft bodies, using a tetrahedral mesh and converting the stress tensor directly into node forces. Rendering is done via a form of
213:
128:, in which the rendered mesh is embedded in the lattice and distorted to conform to the shape of the lattice as it evolves. Assuming all point masses equal to zero one can obtain the
722:
would not normally be considered soft-body dynamics, which is usually restricted to mean simulation of materials which have a tendency to retain their shape and form. In contrast, a
242:
308:
172:
in each element using a model of the material. The elements are typically tetrahedral, the nodes being the vertices of the tetrahedra (relatively simple methods exist to
2000:
1950:
1882:
1703:
1668:
1636:
1586:
1536:
1312:
1191:
Vehicle construction / first person crash test simulator. Soft-body physics are implemented for superstructures, some vehicle components use simple damage modeling.
116:
to the point masses including the forces applied by the springs and any external forces (due to contact, gravity, air resistance, wind, and so on) gives a system of
1418:
621:
149:
84:
410:
refers to the simulation of soft bodies in the form of two dimensional continuum elastic membranes, that is, for this purpose, the actual structure of real
2096:
663:
Hybrid methods involving a combination of various of these schemes, e.g. a coarse AABB tree plus sweep-and-prune with coherence between colliding leaves.
376:. To approximate finite element simulation, shape matching can be applied to three dimensional lattices and multiple shape matching constraints blended.
251:
1432:
471:
368:
In this scheme, penalty forces or constraints are applied to the model to drive it towards its original shape (i.e. the material behaves as if it has
353:
55:
490:), which itself may also be difficult to achieve at interactive frame rates. An alternative is to use an explicit method with low stiffness, with
1230:
Derby racing game. Soft-body physics are implemented for superstructures, but parts and components (e.g. the engine) use simple damage modeling.
969:
1718:
190:
into triangles). The strain (which measures the local deformation of the points of the material from their rest state) is quantified by the
2131:
979:
1743:
551:
particularly in the case of detecting and resolving self collisions and mutual collisions between two or more deformable objects.
532:
325:
The equation of motion of the element nodes is obtained by integrating the stress field over each element and relating this, via
2126:
1175:
Commercial sandbox-esque game based on soft-body vehicle physics. Simulates the vehicles' structure rather than its operation.
528:
558:(meaning objects are advanced in time through a pre-determined interval, and then any penetrations detected and resolved), or
1379:
503:
459:
153:
121:
2015:
388:, modeling the soft-body motion using a network of multiple rigid bodies connected by constraints, and using (for example)
2121:
479:
463:
419:
2116:
1354:
2040:
2101:
1206:
1111:
1019:
132:
aimed at several engineering problems solution relative to the elastic grid behavior. These are sometimes known as
63:
Softbody objects react to forces and are able to collide with other 3D objects. This example has been created with
1277:
Nealen, Müller, Keiser, Boxerman & Carlson (2005). "Physically Based
Deformable Models in Computer Graphics".
915:
726:
assumes the shape of whatever vessel contains it, as the particles are bound together by relatively weak forces.
631:
627:
487:
97:
31:
1551:
893:
A collection of source codes implementing cloth simulation algorithms as well as soft body dynamics in OpenGL.
807:
333:
196:
133:
1915:
219:(which measures the local forces per-unit area in all directions acting on the material) is quantified by the
225:
1440:
314:, which encodes the material properties (parametrized in linear elasticity for an isotropic material by the
169:
2087:"The Animation of Natural Phenomena", CMU course on physically based animation, including deformable bodies
1805:
1278:
349:
326:
117:
113:
635:
462:
solvers. To create high resolution cloth with a realistic stiffness is not possible however with simple
337:
186:
129:
125:
1983:
1933:
1129:
1092:
1073:
1046:
999:
925:
853:
817:
781:
703:
220:
1804:
Provot (1997). "Collision and self-collision handling in cloth model dedicated to design garments".
1519:
1283:
2044:
1810:
1722:
1247:
584:
545:
431:
373:
352:
and the physics of surfaces, which dictate that a constrained surface will assume the shape which
289:
161:
27:
1769:
1651:
1569:
1101:
843:
697:
692:
450:
438:
389:
369:
216:
165:
76:
The simulation of volumetric solid soft bodies can be realised by using a variety of approaches.
64:
1686:
319:
1865:
880:
470:), unless the timestep is made too small for interactive applications (since as is well known,
244:. Given the current local strain, the local stress can be computed via the generalized form of
1994:
1944:
1897:
1876:
1819:
1697:
1662:
1630:
1619:
1580:
1530:
1340:
1292:
1082:
756:
467:
392:
to generate a surface mesh for rendering. This is the approach used for deformable objects in
311:
157:
136:. In pressurized soft bodies spring-mass model is combined with a pressure force based on the
23:
1965:
372:). To conserve momentum the rotation of the body must be estimated properly, for example via
164:
by breaking it into a large number of solid elements which fit together, and solving for the
1847:
1604:
826:
719:
511:
406:
393:
1832:
1305:
1242:
1009:
657:
494:
methods to avoid instability and excessive stretching (e.g. strain limiting corrections).
100:
47:
1747:
1257:
1252:
590:
475:
454:
385:
245:
120:
for the motion of the nodes, which is solved by standard numerical schemes for solving
108:
104:
2110:
1063:
989:
863:
515:
483:
315:
191:
137:
858:
Procedural generation & VFX software - soft-body FEM, cloth simulation (Vellum)
2058:
1196:
1162:
906:
766:
523:
418:
level can be ignored (though modeling cloth on the yarn level has been tried). Via
279:{\displaystyle {\boldsymbol {\sigma }}={\mathsf {C}}{\boldsymbol {\varepsilon }}\,}
1787:
1383:
88:
Two nodes as mass points connected by a parallel circuit of a spring and a damper.
441:, but a distinction must be made between force-based and position-based solvers.
38:). The applications are mostly in video games and films. Unlike in simulation of
2019:
1501:
1462:
1056:
790:
672:
Other effects which may be simulated via the methods of soft-body dynamics are:
357:
2091:
642:
177:
93:
39:
2086:
1916:"Efficient Collision Detection of Complex Deformable Models using AABB Trees"
1087:
920:
1483:
1358:
1217:
1520:"Flexible Simulation of Deformable Models Using Discontinuous Galerkin FEM"
848:
124:. Rendering of a three-dimensional mass-spring lattice is often done using
1848:"Robust Treatment of Collisions, Contact and Friction for Cloth Animation"
1934:"Optimized Spatial Hashing for Collision Detection of Deformable Objects"
885:
680:
427:
423:
148:
This is a more physically accurate approach, which uses the widely used
112:
force law of the springs modified, to achieve desired effects. Applying
707:
688:
684:
650:
181:
2102:
Article by Thomas
Jakobsen which explains the basics of the PBD method
1404:
994:
1570:"Adaptive Physics Based Tetrahedral Mesh Generation Using Level Sets"
1029:
646:
502:
To avoid needing to do an expensive implicit solution of a system of
940:
935:
723:
575:
507:
411:
107:. The nodes may either derive from the edges of a two-dimensional
83:
43:
1134:
Character simulation software - FEM muscles, fat, skin and cloth
1051:
974:
660:
with insertion sort, or tree-tree collisions with front tracking.
1183:
952:
415:
1984:"Point Based Animation of Elastic, Plastic and Melting Objects"
1932:
Teschner, Heidelberger, Müller, Pomeranets & Gross (2003).
1326:
1201:
776:
422:
effects, this can produce a visually plausible emulation of
384:
Deformation can also be handled by a traditional rigid-body
1106:
1068:
1014:
868:
761:
1605:"Real-Time Deformation and Fracture in a Game Environment"
1124:
176:
a three dimensional region bounded by a polygon mesh into
1982:
Müller, Keiser, Nealen, Pauly, Gross & Alexa (2004).
1222:
795:
1650:
Wardetzky, Bergou, Harmon, Zorin & Grinspun (2007).
1463:"Interactive animation of structured deformable objects"
901:
1433:"Doc:2.4/Manual/Physics/Soft Bodies 2.46 - BlenderWiki"
1004:
Supports the use of simulated hair and cloth physics.
474:
integrators are numerically unstable for sufficiently
957:
812:
720:
Simulating fluids in the context of computer graphics
593:
292:
254:
228:
199:
50:
currently provide software for soft-body simulation.
1864:
Müller, Heidelberger, Hennix & Ratcliff (2006).
1167:
1034:
587:
scheme is essential, to avoid a brute force test of
1685:Müller, Heidelberger, Teschner & Gross (2005).
831:
615:
302:
278:
236:
207:
92:In this approach, the body is modeled as a set of
16:Computer graphics simulation of deformable objects
1618:Terzopoulos, Platt, Barr & Fleischer (1987).
1484:"Free-Form Deformation of Solid Geometric Models"
930:Uniform API, supports multiple physics engines.
1966:"Fast Arbitrary Splitting of Deforming Objects"
1687:"Meshless Deformations Based on Shape Matching"
623:primitive collisions. Approaches used include:
1552:"Robust Tetrahedral Meshing of Triangle Soups"
1518:Kaufmann, Martin, Botsch & Gross (2008).
645:for memory efficiency) or hierarchical (e.g.
160:. The body is modeled as a three-dimensional
8:
1999:: CS1 maint: multiple names: authors list (
1949:: CS1 maint: multiple names: authors list (
1881:: CS1 maint: multiple names: authors list (
1770:"Simulating Knitted Cloth at the Yarn Level"
1702:: CS1 maint: multiple names: authors list (
1667:: CS1 maint: multiple names: authors list (
1635:: CS1 maint: multiple names: authors list (
1585:: CS1 maint: multiple names: authors list (
1568:Bridson, Teran, Molino & Fedkiw (2003).
1535:: CS1 maint: multiple names: authors list (
715:Simulated organs for biomedical applications
566:ways to avoid failing to detect collisions.
482:must be used, requiring solution of a large
26:that focuses on visually realistic physical
1719:"Fast Adaptive Shape Matching Deformations"
1502:"A pressure model for soft body simulation"
506:, many real-time cloth simulators (notably
1598:
1596:
1355:"Pixelux's Digital Molecular Matter (DMM)"
1088:https://viterbi-web.usc.edu/~jbarbic/vega/
921:http://www.adrianboeing.com/pal/index.html
540:Collision detection for deformable objects
2041:"When Will Virtual Surgery Make the Cut?"
2016:"A Mass Spring Model for Hair Simulation"
1809:
1550:Spillmann, Wagner & Teschner (2006).
1311:CS1 maint: multiple names: authors list (
1282:
604:
592:
354:minimizes the total energy of deformation
294:
293:
291:
275:
270:
264:
263:
255:
253:
229:
227:
208:{\displaystyle {\boldsymbol {\epsilon }}}
200:
198:
1680:
1678:
1212:Free and open source vehicle simulator.
1144:
849:https://www.sidefx.com/products/houdini/
738:
437:Cloth simulators are generally based on
52:
1964:Steinemann, Otaduy & Gross (2006).
1846:Bridson, Fedkiw & Anderson (2002).
1717:Steinemann, Otaduy & Gross (2008).
1652:"Discrete Quadratic Curvature Energies"
1269:
271:
256:
237:{\displaystyle {\boldsymbol {\sigma }}}
230:
201:
1992:
1942:
1874:
1828:
1817:
1768:Kaldor, James & Marschner (2008).
1695:
1660:
1628:
1578:
1528:
1477:
1475:
1301:
1290:
970:Simulation Open Framework Architecture
886:https://github.com/mmmovania/opencloth
656:Coherence-exploiting schemes, such as
295:
265:
96:(nodes) connected by ideal weightless
1461:Desbrun, Schroder & Barr (1999).
730:Software supporting soft body physics
404:In the context of computer graphics,
180:, similarly to how a two-dimensional
7:
2014:Selle, Lentine & Fedkiw (2008).
1327:"Numerion Software - Carbon Physics"
995:https://developer.valvesoftware.com
1896:Baraff, Witkin & Kass (2003).
14:
1788:"Large Steps in Cloth Simulation"
980:GNU Lesser General Public License
941:http://developer.nvidia.com/physx
712:Simulated hair, fur, and feathers
2092:Soft body dynamics video example
156:which govern the dynamics of an
30:of the motion and properties of
1620:"Elastically Deformable Models"
1482:Sederberg & Parry (1986).
1052:https://torque3d.org/torque3d/
975:http://www.sofa-framework.org/
610:
597:
348:This approach is motivated by
154:partial differential equations
1:
1603:Parker & O'Brien (2009).
1184:https://www.crasheffects.com/
641:Grids, either uniform (using
329:, to the node accelerations.
303:{\displaystyle {\mathsf {C}}}
1786:Baraff & Witkin (1998).
1500:Matyka & Ollila (2003).
1202:https://rigsofrods.github.io
777:http://numerion-software.com
706:(permanent deformation) and
380:Rigid-body based deformation
628:Bounding volume hierarchies
554:Collision detection may be
344:Energy minimization methods
332:Pixelux (developers of the
2148:
1207:GNU General Public License
1112:GNU General Public License
1020:GNU General Public License
543:
1866:"Position Based Dynamics"
916:Physics Abstraction Layer
488:conjugate gradient method
466:solvers (such as forward
144:Finite element simulation
134:mass-spring-damper models
2132:Computer physics engines
1107:https://www.blender.org/
1069:https://unrealengine.com
1015:http://edu.kde.org/step/
869:http://autodesk.com/maya
808:Digital Molecular Matter
762:http://bulletphysics.org
334:Digital Molecular Matter
103:obeying some variant of
2063:developer.valvesoftware
1914:Van Den Bergen (1998).
1125:http://zivadynamics.com
520:position based dynamics
498:Position-based dynamics
390:matrix-palette skinning
2127:Video game development
1223:http://nextcargame.com
796:http://mycryengine.com
617:
350:variational principles
304:
280:
238:
209:
118:differential equations
89:
68:
902:http://opentissue.org
693:finite element method
618:
556:discrete/a posteriori
486:system (via e.g. the
478:systems). Therefore,
338:free-form deformation
305:
281:
239:
210:
150:finite element method
130:Stretched grid method
126:free-form deformation
87:
62:
2122:3D computer graphics
2097:Introductory article
1093:3-clause BSD license
926:3-clause BSD license
687:of soft bodies, and
638:trees, sphere trees)
591:
290:
252:
226:
221:Cauchy stress tensor
197:
2117:Classical mechanics
2045:Scientific American
1744:"Havok Destruction"
1343:. 24 February 2014.
1341:"PhysX soft bodies"
1248:Rigid body dynamics
1180:Crash Effects Inc.
683:of brittle solids,
585:spatial subdivision
560:continuous/a priori
546:Collision detection
432:animated characters
374:polar decomposition
327:Newton's second law
114:Newton's second law
1898:"Untangling Cloth"
1102:Blender (software)
958:http://phyz.ath.cx
813:http://pixelux.com
735:Simulation engines
698:fracture mechanics
668:Other applications
613:
439:mass-spring models
300:
276:
234:
205:
90:
80:Spring/mass models
69:
32:deformable objects
20:Soft-body dynamics
1827:Missing or empty
1300:Missing or empty
1234:
1233:
1168:http://beamng.com
1138:
1137:
1035:http://syflex.biz
616:{\displaystyle O}
468:Euler integration
453:(obtained from a
451:mass-spring model
445:Force-based cloth
394:Havok Destruction
312:elasticity tensor
162:elastic continuum
72:Deformable solids
60:
24:computer graphics
2139:
2074:
2073:
2071:
2069:
2055:
2049:
2048:
2037:
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2027:
2018:. Archived from
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1439:. Archived from
1437:wiki.blender.org
1429:
1423:
1422:
1415:
1409:
1408:
1407:. 21 March 2022.
1405:"Bullet Physics"
1401:
1395:
1394:
1392:
1391:
1382:. Archived from
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1370:
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1367:
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1357:. Archived from
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832:http://havok.com
739:
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533:angular momentum
480:implicit solvers
407:cloth simulation
400:Cloth simulation
356:(analogous to a
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158:elastic material
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2020:the original
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1384:the original
1374:
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1359:the original
1349:
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1272:
1197:Rigs of Rods
1163:BeamNG.drive
1157:Description
907:zlib license
767:zlib license
751:Description
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677:Destructible
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40:rigid bodies
35:
19:
18:
1130:Proprietary
1074:Proprietary
1057:MIT License
1000:Proprietary
898:OpenTissue
864:Maya nCloth
854:Proprietary
827:Havok Cloth
818:Proprietary
791:CryEngine 3
782:Proprietary
679:materials:
516:Maya nCloth
512:Havok Cloth
358:soap bubble
246:Hooke's law
105:Hooke's law
36:soft bodies
28:simulations
2111:Categories
2026:2010-03-07
1829:|url=
1754:2010-03-07
1729:2010-03-08
1447:2015-09-19
1390:2010-03-07
1365:2010-03-07
1302:|url=
1264:References
704:Plasticity
178:tetrahedra
1806:CiteSeerX
1279:CiteSeerX
1227:Non-free
1218:Wreckfest
1188:Non-free
1172:Non-free
1121:Ziva VFX
1039:Non-free
945:Non-free
881:OpenCloth
873:Non-free
836:Non-free
800:Non-free
420:rendering
272:ε
257:σ
231:σ
202:ϵ
2068:4 August
1995:cite web
1945:cite web
1877:cite web
1820:cite web
1698:cite web
1663:cite web
1631:cite web
1581:cite web
1531:cite web
1293:cite web
1237:See also
1154:License
1151:Website
1083:Vega FEM
748:License
745:Website
681:fracture
472:explicit
464:explicit
428:clothing
424:textiles
166:stresses
2047:. 2007.
844:Houdini
773:Carbon
742:Engine
708:melting
689:tearing
685:cutting
651:kd-tree
643:hashing
634:trees,
414:on the
310:is the
184:may be
182:polygon
170:strains
101:springs
98:elastic
65:Blender
1808:
1281:
1047:Torque
1030:SyFlex
982:v2.1+
757:Bullet
647:Octree
564:ad hoc
529:linear
518:) use
514:, and
492:ad hoc
286:where
217:stress
215:. The
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1148:Game
1141:Games
936:PhysX
724:fluid
576:Pixar
508:PhysX
476:stiff
412:cloth
44:fluid
2070:2022
2001:link
1951:link
1883:link
1833:help
1704:link
1669:link
1637:link
1587:link
1537:link
1313:link
1306:help
1010:Step
953:Phyz
632:AABB
531:and
504:ODEs
449:The
426:and
416:yarn
318:and
168:and
122:ODEs
34:(or
1209:v3
1114:v2
1022:v2
636:OBB
460:ODE
322:).
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Text is available under the Creative Commons Attribution-ShareAlike License. Additional terms may apply.
