Rigid Body Dynamics
The content of this research is the development of the pe
physics engine. The interface of this engine is similiar to other existing
frameworks. However, in contrast to these engines, the primary focus of the
pe engine is the physically accurate simulation of rigid
bodies. Nevertheless, the software structure of pe also
allows the integration of fast solvers for rigid body collisions suitable
for computer games.
The main problem for the simulation of frictional rigid body dynamics is the
treatment of a linear complementarity problem of the following kind:
In order to solve this problem, pe offers several solvers, for
instance the classical Lemke pivot algorithm, the projected Gauss-Seidel (PGS)
algorithm, the conjugate projected gradient (CPG) algorithm, a damped Newton
solver and an algebraic multigrid (AMG) solver
Main interests of this research are:
- Physically accurate rigid body dynamics
- Fast rigid body interaction suitable for computer games
- Exceptional C++-implementation
- Intuitive user-interface
LBM simulation with moving particles
The content of this work is the simulation of the fluid behavior of complex particle
agglomerates. The fluid is simulated with the Lattice Boltzmann Method (LBM), whereas the
particle movements are simulated with a rigid body physics engine. The further goals
are amongst others the improvement of the accuracy of the force interaction between
the fluid and the agglomerate and an improvement of the simulation performance. My
master thesis about this topic can be downloaded
here.
Example videos for different particle simulations can be downloaded here.
