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We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework.
Optimal control via second order sensitivity analysis
Simon Zimmermann, Roi Poranne, and Stelian Coros. 2019a · 1905
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Fast Contact Force Computation for Nonpenetrating Rigid Bodies. In Proceedings of the 21st Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH ’94) . 23–34
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An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction
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Formulating Dynamic Multi-rigid-body Contact Problems with Friction as Solvable Linear Complementarity Problems
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Scanning physical interaction behavior of 3D objects. In Proceedings of the 28th annual conference on Computer graphics and interactive techniques - SIGGRAPH '01
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Quasi-Rigid Objects in Contact. In Proceedings of the 2004 ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA ’04) . Eurographics Association, 109–119
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Danny M. Kaufman, Timothy Edmunds, and Dinesh K. Pai. 2005 · 2005
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Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
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Peter Wriggers. 2006 · 2006
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Velocity-Based Shock Propagation for Multibody Dynamics Animation
Kenny Erleben. 2007 · 2007
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Many-Worlds Browsing for Control of Multibody Dynamics
Christopher D. Twigg and Doug L. James. 2007 · 2007
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Staggered Projections for Frictional Contact in Multibody Systems
Danny M. Kaufman, Shinjiro Sueda, Doug L. James, and Dinesh K. Pai. 2008 · 2008
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Two-way Coupling of Rigid and Deformable Bodies. In Proceedings of the 2008 Eurographics/ACM SIGGRAPH Symposium on Computer Animation, SCA 2008, Dublin, Ireland, 2008 (SCA ’08) , Markus H. Gross and Doug L. James (Eds.). Eurographics Association, 95–103
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Asynchronous Contact Mechanics. In ACM SIGGRAPH 2009 Papers (SIGGRAPH ’09) . Article 87
David Harmon, Etienne Vouga, Breannan Smith, Rasmus Tamstorf, and Eitan Grinspun. 2009 · 2009
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Implicit Contact Handling for Deformable Objects
Miguel A. Otaduy, Rasmus Tamstorf, Denis Steinemann, and Markus Gross. 2009 · 2009
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Anisotropic Friction for Deformable Surfaces and Solids. In Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA ’09) . 149–154
Simon Pabst, Bernhard Thomaszewski, and Wolfgang Straundefineder. 2009 · 2009
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Volume Contact Constraints at Arbitrary Resolution
Jérémie Allard, François Faure, Hadrien Courtecuisse, Florent Falipou, Christian Duriez, and Paul G. Kry. 2010 · 2010
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A Nonsmooth Newton Solver for Capturing Exact Coulomb Friction in Fiber Assemblies
Florence Bertails-Descoubes, Florent Cadoux, Gilles Daviet, and Vincent Acary. 2011 · 2011
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Reinventing the spring
Erin Catto. 2011 · 2011
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Controlling Physics-Based Characters Using Soft Contacts
Sumit Jain and C. Karen Liu. 2011 · 2011
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End-to-End Differentiable Physics for Learning and Control
Filipe de Avila Belbute-Peres, Kevin Smith, Kelsey Allen, Josh Tenenbaum, and J. Zico Kolter. 2018 · 2018
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Skaterbots: optimization-based design and motion synthesis for robotic creatures with legs and wheels
Moritz Geilinger, Roi Poranne, Ruta Desai, Bernhard Thomaszewski, and Stelian Coros. 2018 · 2018
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An Implicit Frictional Contact Solver for Adaptive Cloth Simulation
Jie Li, Gilles Daviet, Rahul Narain, Florence Bertails-Descoubes, Matthew Overby, George E. Brown, and Laurence Boissieux. 2018 · 2018
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Inverse Elastic Shell Design with Contact and Friction
Mickaël Ly, Romain Casati, Florence Bertails-Descoubes, Mélina Skouras, and Laurence Boissieux. 2018 · 2018
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Trajectory optimization for cable-driven soft robot locomotion
James M. Bern, Pol Banzet, Roi Poranne, and Stelian Coros. 2019 · 2019
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A convex, smooth and invertible contact model for trajectory optimization. In 2011 IEEE International Conference on Robotics and Automation . 1071–1076
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Deformable Objects Alive!
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Trajectory optimization for domains with contacts using inverse dynamics. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
T. Erez and E. Todorov. 2012 · 2012
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PDE-constrained optimization and the adjoint method
Andrew M. Bradley. 2013 · 2013
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The Matchstick Model for Anisotropic Friction Cones
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Non-smooth Newton Methods for Deformable Multi-body Dynamics
Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, and Viktor Makoviychuk. 2019 · 2019
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