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Real-time control of physically based simulations using gentle forces

Authors:

Jernej Barbič,

Jovan PopovićAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 27, Issue 5

Article No.: 163, Pages 1 - 10

https://doi.org/10.1145/1409060.1409116

Published: 01 December 2008 Publication History

Abstract

Recent advances have brought real-time physically based simulation within reach, but simulations are still difficult to control in real time. We present interactive simulations of passive systems such as deformable solids or fluids that are not only fast, but also directable: they follow given input trajectories while simultaneously reacting to user input and other unexpected disturbances. We achieve such directability using a real-time controller that runs in tandem with a real-time physically based simulation. To avoid stiff and over-controlled systems where the natural dynamics are overpowered, the injection of control forces has to be minimized. This search for gentle forces can be made tractable in real-time by linearizing the system dynamics around the input trajectory, and then using a time-varying linear quadratic regulator to build the controller. We show examples of controlled complex deformable solids and fluids, demonstrating that our approach generates a requested fixed outcome for reasonable user inputs, while simultaneously providing runtime motion variety.

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Index Terms

Real-time control of physically based simulations using gentle forces
1. Computing methodologies
  1. Computer graphics
  2. Modeling and simulation
    1. Simulation types and techniques
      1. Simulation by animation
2. Mathematics of computing
  1. Continuous mathematics
    1. Topology
      1. Geometric topology

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 27, Issue 5

December 2008

552 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/1409060

Issue’s Table of Contents

Copyright © 2008 ACM.

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Publication History

Published: 01 December 2008

Published in TOG Volume 27, Issue 5

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Cited By

Mithun NSaravanagowri SSashankh VRithish Hari GNithish Kumar SSaravanan BRamesh Babu S(2024)Comprehensive Analysis on Design, Working, and Manufacturing of Soft RobotsIntelligent Robots and Cobots10.1002/9781394198252.ch15(317-336)Online publication date: 5-Dec-2024
https://doi.org/10.1002/9781394198252.ch15
James DLevin D(2023)ViCMA: Visual Control of Multibody AnimationsSIGGRAPH Asia 2023 Conference Papers10.1145/3610548.3618223(1-11)Online publication date: 10-Dec-2023
https://dl.acm.org/doi/10.1145/3610548.3618223
Bahrami HSichetti FPuppo EVettori LLiu Chung Ming CPerry SGentile CPietroni N(2023)Physically-based simulation of elastic-plastic fusion of 3D bioprinted spheroidsBiofabrication10.1088/1758-5090/acf2cb15:4(045021)Online publication date: 15-Sep-2023
https://doi.org/10.1088/1758-5090/acf2cb
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