We address the long-standing problem of iteration count and time step dependent constraint
stiffness in position-based dynamics (PBD). We introduce a simple extension to PBD that …

We present a new method for real-time physics-based simulation supporting many different
types of hyperelastic materials. Previous methods such as Position-Based or Projective …

We present a framework for the simulation of rigid and deformable bodies in the presence of
contact and friction. Our method is based on a non-smooth Newton iteration that solves the …

The masticatory region is an important human motion system that is essential for basic
human tasks like mastication, speech or swallowing. An association between …

The physically-based simulation of mechanical effects has been an important research topic
in computer graphics for more than two decades. Classical methods in this field discretize …

We present a unification of the two main approaches to simulate deformable solids, namely
elasticity and constraints. Elasticity accurately handles soft to moderately stiff objects, but …

In this paper we re-examine the idea that implicit integrators with large time steps offer the
best stability/performance trade-off for stiff systems. We make the surprising observation that …

A time-discrete formulation of the variational principle of mechanics is used to provide a
consistent theoretical framework for the construction and analysis of low order integration …

We examine the relationship between primal, or force‐based, and dual, or constraint‐based
formulations of dynamics. Variational frameworks such as Projective Dynamics have proved …

Deformable object manipulation tasks have long been regarded as challenging robotic
problems. However, until recently very little work has been done on the subject, with most …