In this paper, we present a novel direct solver for the efficient simulation of stiff, inextensible
elastic rods within the position‐based dynamics (PBD) framework. It is based on the XPBD …

It is well known that the dynamics of articulated rigid bodies can be solved in O (n) time
using a recursive method, where n is the number of joints. However, when elasticity is added …

We present a novel method for posing and animating botanical tree models interactively in
real time. Unlike other state of the art methods which tend to produce trees that are overly …

The penalty method is a simple and popular approach to resolving contact in computer
graphics and robotics. Penalty-based contact, however, suffers from stability problems due …

Operations such as object manipulation and palpation rely on the fine perception of contact
forces, both in time and space. Haptic simulation of grasping, with the rendering of contact …

Recent advances in tactile rendering span, among others, wearable cutaneous interfaces,
tactile rendering algorithms, or nonlinear soft skin models. However, the adoption of these …

Inertial Musculotendons Inertial Musculotendons Abstract This thesis aims to develop a simple
and practical framework for musculoskeletal simulation that accounts for the inertia of muscles …

Simulation of real-world dynamics is of major importance in testing and verifying developed
industrial concepts and solutions, developing and verifying potential control paradigms …

The dynamics of articulated rigid bodies can be solved in O (n) time using a recursive
method. When elasticity is added between the bodies, with linearly implicit integration, the …

Botanical trees are ubiquitous in many real-world environments, and they are consequently
also pervasive in the virtual environments created for film special effects, games, virtual …