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Studienarbeit / Bachelor thesis
Rigid body dynamics: Space partitioning
Supervision:
Background:
The pe rigid body physics engine is a framework for the physically
correct simulation of rigid bodies of arbitrary shape.
During each time step, the collisions between the simulated rigid bodies are handled. The
first step during the collision treatment is to determine the contact points between the
rigid bodies. So far this is done by a comparison of all rigid bodies with each other, a
task that has a complexity of O(N²). After the contact points have been determined, a
quadratic program whose size is proportional to the number of contact points has to be
solved. Whereas small sized simulations can be easily handled, a large number of rigid
bodies and a potentially large number of contact points palpably decreases the speed of
the simulation.
Goal of this thesis is the extensions of the pe rigid body physics
engine by an adaptive space partitioning approach. The global simulation space has to
be partitioned in smaller, separate simulation spaces that are independent of each other
and where therefore collisions can be handled in a much faster way. Additionally, this
approach is supposed to be extended for a distributed memory parallelization for simulations
of several thousand complex rigid bodies.
Tasks:
- Development of a space partioning approach for the pe physics engine
- Performance and memory requirement evaluation of the C++ implementation
- Development of demonstration examples
Recommended knowledge:
Status:
Free
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