96:
57:). 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
533:(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
573:(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
371:). 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.
122:
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
580:
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.
584:
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.
561:
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,
65:
581:
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.
441:, 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
589:
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.
546:
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.
537:
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
53:, 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
468:
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
295:
69:
68:
70:
706:
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
593:
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
585:
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.
67:
347:
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
224:
139:, 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
733:
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
253:
319:
183:
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
2011:
1961:
1893:
1714:
1679:
1647:
1597:
1547:
1323:
1202:
Vehicle construction / first person crash test simulator. Soft-body physics are implemented for superstructures, some vehicle components use simple damage modeling.
127:
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
1429:
632:
160:
95:
421:
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
2107:
674:
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.
387:. To approximate finite element simulation, shape matching can be applied to three dimensional lattices and multiple shape matching constraints blended.
262:
1443:
482:
379:
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
364:
66:
501:), which itself may also be difficult to achieve at interactive frame rates. An alternative is to use an explicit method with low stiffness, with
1241:
Derby racing game. Soft-body physics are implemented for superstructures, but parts and components (e.g. the engine) use simple damage modeling.
980:
1729:
201:
into triangles). The strain (which measures the local deformation of the points of the material from their rest state) is quantified by the
2142:
990:
1754:
562:
particularly in the case of detecting and resolving self collisions and mutual collisions between two or more deformable objects.
543:
336:
The equation of motion of the element nodes is obtained by integrating the stress field over each element and relating this, via
2137:
1186:
Commercial sandbox-esque game based on soft-body vehicle physics. Simulates the vehicles' structure rather than its operation.
539:
569:(meaning objects are advanced in time through a pre-determined interval, and then any penetrations detected and resolved), or
1390:
514:
470:
164:
132:
2026:
399:, modeling the soft-body motion using a network of multiple rigid bodies connected by constraints, and using (for example)
2132:
490:
474:
430:
2127:
1365:
2051:
2112:
1217:
1122:
1030:
143:
aimed at several engineering problems solution relative to the elastic grid behavior. These are sometimes known as
74:
Softbody objects react to forces and are able to collide with other 3D objects. This example has been created with
1288:
Nealen, Müller, Keiser, Boxerman & Carlson (2005). "Physically Based
Deformable Models in Computer Graphics".
926:
737:
assumes the shape of whatever vessel contains it, as the particles are bound together by relatively weak forces.
642:
638:
498:
108:
42:
1562:
904:
A collection of source codes implementing cloth simulation algorithms as well as soft body dynamics in OpenGL.
818:
344:
207:
144:
1926:
230:(which measures the local forces per-unit area in all directions acting on the material) is quantified by the
236:
1451:
325:, which encodes the material properties (parametrized in linear elasticity for an isotropic material by the
180:
2098:"The Animation of Natural Phenomena", CMU course on physically based animation, including deformable bodies
1816:
1289:
360:
337:
128:
124:
646:
473:
solvers. To create high resolution cloth with a realistic stiffness is not possible however with simple
348:
197:
140:
136:
1994:
1944:
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1103:
1084:
1057:
1010:
936:
864:
828:
792:
714:
231:
1815:
Provot (1997). "Collision and self-collision handling in cloth model dedicated to design garments".
1530:
1294:
2055:
1821:
1733:
1258:
595:
556:
442:
384:
363:
and the physics of surfaces, which dictate that a constrained surface will assume the shape which
300:
172:
38:
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1662:
1580:
1112:
854:
708:
703:
461:
449:
400:
380:
227:
176:
87:
The simulation of volumetric solid soft bodies can be realised by using a variety of approaches.
75:
1697:
330:
1876:
891:
481:), unless the timestep is made too small for interactive applications (since as is well known,
255:. Given the current local strain, the local stress can be computed via the generalized form of
2005:
1955:
1908:
1887:
1830:
1708:
1673:
1641:
1630:
1591:
1541:
1351:
1303:
1093:
767:
478:
403:
to generate a surface mesh for rendering. This is the approach used for deformable objects in
322:
168:
147:. In pressurized soft bodies spring-mass model is combined with a pressure force based on the
34:
1976:
383:). To conserve momentum the rotation of the body must be estimated properly, for example via
175:
by breaking it into a large number of solid elements which fit together, and solving for the
1858:
1615:
837:
730:
522:
417:
404:
1843:
1316:
1253:
1020:
668:
505:
methods to avoid instability and excessive stretching (e.g. strain limiting corrections).
111:
58:
1758:
1268:
1263:
601:
486:
465:
396:
256:
131:
for the motion of the nodes, which is solved by standard numerical schemes for solving
119:
115:
2121:
1074:
1000:
874:
526:
494:
326:
202:
148:
869:
Procedural generation & VFX software - soft-body FEM, cloth simulation (Vellum)
2069:
1207:
1173:
917:
777:
534:
429:
level can be ignored (though modeling cloth on the yarn level has been tried). Via
290:{\displaystyle {\boldsymbol {\sigma }}={\mathsf {C}}{\boldsymbol {\varepsilon }}\,}
1798:
1394:
99:
Two nodes as mass points connected by a parallel circuit of a spring and a damper.
17:
452:, but a distinction must be made between force-based and position-based solvers.
49:). The applications are mostly in video games and films. Unlike in simulation of
2030:
1512:
1473:
1067:
801:
683:
Other effects which may be simulated via the methods of soft-body dynamics are:
368:
2102:
653:
188:
104:
50:
2097:
1927:"Efficient Collision Detection of Complex Deformable Models using AABB Trees"
1098:
931:
1494:
1369:
1228:
1531:"Flexible Simulation of Deformable Models Using Discontinuous Galerkin FEM"
859:
135:. Rendering of a three-dimensional mass-spring lattice is often done using
1859:"Robust Treatment of Collisions, Contact and Friction for Cloth Animation"
1945:"Optimized Spatial Hashing for Collision Detection of Deformable Objects"
896:
691:
438:
434:
159:
This is a more physically accurate approach, which uses the widely used
123:
force law of the springs modified, to achieve desired effects. Applying
718:
699:
695:
661:
192:
2113:
Article by Thomas
Jakobsen which explains the basics of the PBD method
1415:
1005:
1581:"Adaptive Physics Based Tetrahedral Mesh Generation Using Level Sets"
1040:
657:
513:
To avoid needing to do an expensive implicit solution of a system of
951:
946:
734:
586:
518:
422:
118:. The nodes may either derive from the edges of a two-dimensional
94:
54:
1145:
Character simulation software - FEM muscles, fat, skin and cloth
1062:
985:
671:
with insertion sort, or tree-tree collisions with front tracking.
1194:
963:
426:
1995:"Point Based Animation of Elastic, Plastic and Melting Objects"
1943:
Teschner, Heidelberger, Müller, Pomeranets & Gross (2003).
1337:
1212:
787:
433:
effects, this can produce a visually plausible emulation of
395:
Deformation can also be handled by a traditional rigid-body
1117:
1079:
1025:
879:
772:
1616:"Real-Time Deformation and Fracture in a Game Environment"
1135:
187:
a three dimensional region bounded by a polygon mesh into
1993:
Müller, Keiser, Nealen, Pauly, Gross & Alexa (2004).
1233:
806:
1661:
Wardetzky, Bergou, Harmon, Zorin & Grinspun (2007).
1474:"Interactive animation of structured deformable objects"
912:
1444:"Doc:2.4/Manual/Physics/Soft Bodies 2.46 - BlenderWiki"
1015:
Supports the use of simulated hair and cloth physics.
485:
integrators are numerically unstable for sufficiently
968:
823:
731:
Simulating fluids in the context of computer graphics
604:
303:
265:
239:
210:
61:
currently provide software for soft-body simulation.
1875:
Müller, Heidelberger, Hennix & Ratcliff (2006).
1178:
1045:
598:
scheme is essential, to avoid a brute force test of
1696:Müller, Heidelberger, Teschner & Gross (2005).
842:
626:
313:
289:
247:
218:
103:In this approach, the body is modeled as a set of
27:Computer graphics simulation of deformable objects
1629:Terzopoulos, Platt, Barr & Fleischer (1987).
1495:"Free-Form Deformation of Solid Geometric Models"
941:Uniform API, supports multiple physics engines.
1977:"Fast Arbitrary Splitting of Deforming Objects"
1698:"Meshless Deformations Based on Shape Matching"
634:primitive collisions. Approaches used include:
1563:"Robust Tetrahedral Meshing of Triangle Soups"
1529:Kaufmann, Martin, Botsch & Gross (2008).
656:for memory efficiency) or hierarchical (e.g.
171:. The body is modeled as a three-dimensional
8:
2010:: CS1 maint: multiple names: authors list (
1960:: CS1 maint: multiple names: authors list (
1892:: CS1 maint: multiple names: authors list (
1781:"Simulating Knitted Cloth at the Yarn Level"
1713:: CS1 maint: multiple names: authors list (
1678:: CS1 maint: multiple names: authors list (
1646:: CS1 maint: multiple names: authors list (
1596:: CS1 maint: multiple names: authors list (
1579:Bridson, Teran, Molino & Fedkiw (2003).
1546:: CS1 maint: multiple names: authors list (
726:Simulated organs for biomedical applications
577:ways to avoid failing to detect collisions.
493:must be used, requiring solution of a large
37:that focuses on visually realistic physical
1730:"Fast Adaptive Shape Matching Deformations"
1513:"A pressure model for soft body simulation"
517:, many real-time cloth simulators (notably
1609:
1607:
1366:"Pixelux's Digital Molecular Matter (DMM)"
1099:https://viterbi-web.usc.edu/~jbarbic/vega/
932:http://www.adrianboeing.com/pal/index.html
551:Collision detection for deformable objects
2052:"When Will Virtual Surgery Make the Cut?"
2027:"A Mass Spring Model for Hair Simulation"
1820:
1561:Spillmann, Wagner & Teschner (2006).
1322:CS1 maint: multiple names: authors list (
1293:
615:
603:
365:minimizes the total energy of deformation
305:
304:
302:
286:
281:
275:
274:
266:
264:
240:
238:
219:{\displaystyle {\boldsymbol {\epsilon }}}
211:
209:
1691:
1689:
1223:Free and open source vehicle simulator.
1155:
860:https://www.sidefx.com/products/houdini/
749:
448:Cloth simulators are generally based on
63:
1975:Steinemann, Otaduy & Gross (2006).
1857:Bridson, Fedkiw & Anderson (2002).
1728:Steinemann, Otaduy & Gross (2008).
1663:"Discrete Quadratic Curvature Energies"
1280:
282:
267:
248:{\displaystyle {\boldsymbol {\sigma }}}
241:
212:
2003:
1953:
1885:
1839:
1828:
1779:Kaldor, James & Marschner (2008).
1706:
1671:
1639:
1589:
1539:
1488:
1486:
1312:
1301:
981:Simulation Open Framework Architecture
897:https://github.com/mmmovania/opencloth
667:Coherence-exploiting schemes, such as
306:
276:
107:(nodes) connected by ideal weightless
1472:Desbrun, Schroder & Barr (1999).
741:Software supporting soft body physics
415:In the context of computer graphics,
191:, similarly to how a two-dimensional
7:
2025:Selle, Lentine & Fedkiw (2008).
1338:"Numerion Software - Carbon Physics"
1006:https://developer.valvesoftware.com
1907:Baraff, Witkin & Kass (2003).
25:
1799:"Large Steps in Cloth Simulation"
991:GNU Lesser General Public License
952:http://developer.nvidia.com/physx
723:Simulated hair, fur, and feathers
2103:Soft body dynamics video example
167:which govern the dynamics of an
41:of the motion and properties of
1631:"Elastically Deformable Models"
1493:Sederberg & Parry (1986).
1063:https://torque3d.org/torque3d/
986:http://www.sofa-framework.org/
621:
608:
359:This approach is motivated by
165:partial differential equations
1:
1614:Parker & O'Brien (2009).
1195:https://www.crasheffects.com/
652:Grids, either uniform (using
340:, to the node accelerations.
314:{\displaystyle {\mathsf {C}}}
1797:Baraff & Witkin (1998).
1511:Matyka & Ollila (2003).
1213:https://rigsofrods.github.io
788:http://numerion-software.com
717:(permanent deformation) and
391:Rigid-body based deformation
639:Bounding volume hierarchies
565:Collision detection may be
355:Energy minimization methods
343:Pixelux (developers of the
2159:
1218:GNU General Public License
1123:GNU General Public License
1031:GNU General Public License
554:
1877:"Position Based Dynamics"
927:Physics Abstraction Layer
499:conjugate gradient method
477:solvers (such as forward
155:Finite element simulation
145:mass-spring-damper models
2143:Computer physics engines
1118:https://www.blender.org/
1080:https://unrealengine.com
1026:http://edu.kde.org/step/
880:http://autodesk.com/maya
819:Digital Molecular Matter
773:http://bulletphysics.org
345:Digital Molecular Matter
114:obeying some variant of
2074:developer.valvesoftware
1925:Van Den Bergen (1998).
1136:http://zivadynamics.com
531:position based dynamics
509:Position-based dynamics
401:matrix-palette skinning
2138:Video game development
1234:http://nextcargame.com
807:http://mycryengine.com
628:
361:variational principles
315:
291:
249:
220:
129:differential equations
100:
79:
913:http://opentissue.org
704:finite element method
629:
567:discrete/a posteriori
497:system (via e.g. the
489:systems). Therefore,
349:free-form deformation
316:
292:
250:
221:
161:finite element method
141:Stretched grid method
137:free-form deformation
98:
73:
2133:3D computer graphics
2108:Introductory article
1104:3-clause BSD license
937:3-clause BSD license
698:of soft bodies, and
649:trees, sphere trees)
602:
301:
263:
237:
232:Cauchy stress tensor
208:
2128:Classical mechanics
2056:Scientific American
1755:"Havok Destruction"
1354:. 24 February 2014.
1352:"PhysX soft bodies"
1259:Rigid body dynamics
1191:Crash Effects Inc.
694:of brittle solids,
596:spatial subdivision
571:continuous/a priori
557:Collision detection
443:animated characters
385:polar decomposition
338:Newton's second law
125:Newton's second law
1909:"Untangling Cloth"
1113:Blender (software)
969:http://phyz.ath.cx
824:http://pixelux.com
746:Simulation engines
709:fracture mechanics
679:Other applications
624:
450:mass-spring models
311:
287:
245:
216:
101:
91:Spring/mass models
80:
43:deformable objects
31:Soft-body dynamics
18:Soft body dynamics
1838:Missing or empty
1311:Missing or empty
1245:
1244:
1179:http://beamng.com
1149:
1148:
1046:http://syflex.biz
627:{\displaystyle O}
479:Euler integration
464:(obtained from a
462:mass-spring model
456:Force-based cloth
405:Havok Destruction
323:elasticity tensor
173:elastic continuum
83:Deformable solids
71:
35:computer graphics
16:(Redirected from
2150:
2085:
2084:
2082:
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2066:
2060:
2059:
2048:
2042:
2041:
2039:
2038:
2029:. Archived from
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1450:. Archived from
1448:wiki.blender.org
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1420:
1419:
1418:. 21 March 2022.
1416:"Bullet Physics"
1412:
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1393:. Archived from
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1368:. Archived from
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843:http://havok.com
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544:angular momentum
491:implicit solvers
418:cloth simulation
411:Cloth simulation
367:(analogous to a
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169:elastic material
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2077:. Retrieved
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2031:the original
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1452:the original
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1395:the original
1385:
1374:. Retrieved
1370:the original
1360:
1346:
1332:
1283:
1208:Rigs of Rods
1174:BeamNG.drive
1168:Description
918:zlib license
778:zlib license
762:Description
729:
688:Destructible
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198:triangulated
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105:point masses
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51:rigid bodies
46:
30:
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1141:Proprietary
1085:Proprietary
1068:MIT License
1011:Proprietary
909:OpenTissue
875:Maya nCloth
865:Proprietary
838:Havok Cloth
829:Proprietary
802:CryEngine 3
793:Proprietary
690:materials:
527:Maya nCloth
523:Havok Cloth
369:soap bubble
257:Hooke's law
116:Hooke's law
47:soft bodies
39:simulations
2122:Categories
2037:2010-03-07
1840:|url=
1765:2010-03-07
1740:2010-03-08
1458:2015-09-19
1401:2010-03-07
1376:2010-03-07
1313:|url=
1275:References
715:Plasticity
189:tetrahedra
1817:CiteSeerX
1290:CiteSeerX
1238:Non-free
1229:Wreckfest
1199:Non-free
1183:Non-free
1132:Ziva VFX
1050:Non-free
956:Non-free
892:OpenCloth
884:Non-free
847:Non-free
811:Non-free
431:rendering
283:ε
268:σ
242:σ
213:ϵ
2079:4 August
2006:cite web
1956:cite web
1888:cite web
1831:cite web
1709:cite web
1674:cite web
1642:cite web
1592:cite web
1542:cite web
1304:cite web
1248:See also
1165:License
1162:Website
1094:Vega FEM
759:License
756:Website
692:fracture
483:explicit
475:explicit
439:clothing
435:textiles
177:stresses
2058:. 2007.
855:Houdini
784:Carbon
753:Engine
719:melting
700:tearing
696:cutting
662:kd-tree
654:hashing
645:trees,
425:on the
321:is the
195:may be
193:polygon
181:strains
112:springs
109:elastic
76:Blender
1819:
1292:
1058:Torque
1041:SyFlex
993:v2.1+
768:Bullet
658:Octree
575:ad hoc
540:linear
529:) use
525:, and
503:ad hoc
297:where
228:stress
226:. The
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1159:Game
1152:Games
947:PhysX
735:fluid
587:Pixar
519:PhysX
487:stiff
423:cloth
55:fluid
2081:2022
2012:link
1962:link
1894:link
1844:help
1715:link
1680:link
1648:link
1598:link
1548:link
1324:link
1317:help
1021:Step
964:Phyz
643:AABB
542:and
515:ODEs
460:The
437:and
427:yarn
329:and
179:and
133:ODEs
45:(or
1220:v3
1125:v2
1033:v2
647:OBB
471:ODE
333:).
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Text is available under the Creative Commons Attribution-ShareAlike License. Additional terms may apply.
