Real-time control of physically based simulations using gentle forces
Recent advances have brought real-time physically based simulation within reach, but simulations are still difficult to control in real time. We present interactive simulations of passive systems such as deformable solids or fluids that are not only fast, but also directable: they follow given input...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Association for Computing Machinery (ACM)
2015
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| Online Access: | http://hdl.handle.net/1721.1/100440 |
| _version_ | 1826200323551657984 |
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| author | Barbic, Jernej Popovic, Jovan |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Barbic, Jernej Popovic, Jovan |
| author_sort | Barbic, Jernej |
| collection | MIT |
| description | Recent advances have brought real-time physically based simulation within reach, but simulations are still difficult to control in real time. We present interactive simulations of passive systems such as deformable solids or fluids that are not only fast, but also directable: they follow given input trajectories while simultaneously reacting to user input and other unexpected disturbances. We achieve such directability using a real-time controller that runs in tandem with a real-time physically based simulation. To avoid stiff and over-controlled systems where the natural dynamics are overpowered, the injection of control forces has to be minimized. This search for gentle forces can be made tractable in real-time by linearizing the system dynamics around the input trajectory, and then using a time-varying linear quadratic regulator to build the controller. We show examples of controlled complex deformable solids and fluids, demonstrating that our approach generates a requested fixed outcome for reasonable user inputs, while simultaneously providing runtime motion variety. |
| first_indexed | 2024-09-23T11:34:42Z |
| format | Article |
| id | mit-1721.1/100440 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:34:42Z |
| publishDate | 2015 |
| publisher | Association for Computing Machinery (ACM) |
| record_format | dspace |
| spelling | mit-1721.1/1004402022-10-01T04:34:39Z Real-time control of physically based simulations using gentle forces Barbic, Jernej Popovic, Jovan Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Barbic, Jernej Popovic, Jovan Recent advances have brought real-time physically based simulation within reach, but simulations are still difficult to control in real time. We present interactive simulations of passive systems such as deformable solids or fluids that are not only fast, but also directable: they follow given input trajectories while simultaneously reacting to user input and other unexpected disturbances. We achieve such directability using a real-time controller that runs in tandem with a real-time physically based simulation. To avoid stiff and over-controlled systems where the natural dynamics are overpowered, the injection of control forces has to be minimized. This search for gentle forces can be made tractable in real-time by linearizing the system dynamics around the input trajectory, and then using a time-varying linear quadratic regulator to build the controller. We show examples of controlled complex deformable solids and fluids, demonstrating that our approach generates a requested fixed outcome for reasonable user inputs, while simultaneously providing runtime motion variety. 2015-12-19T01:53:27Z 2015-12-19T01:53:27Z 2008-12 Article http://purl.org/eprint/type/ConferencePaper 07300301 http://hdl.handle.net/1721.1/100440 Jernej Barbic and Jovan Popovic. 2008. Real-time control of physically based simulations using gentle forces. ACM Trans. Graph. 27, 5, Article 163 (December 2008), 10 pages. en_US http://dx.doi.org/10.1145/1409060.1409116 ACM Transactions on Graphics Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Association for Computing Machinery (ACM) MIT web domain |
| spellingShingle | Barbic, Jernej Popovic, Jovan Real-time control of physically based simulations using gentle forces |
| title | Real-time control of physically based simulations using gentle forces |
| title_full | Real-time control of physically based simulations using gentle forces |
| title_fullStr | Real-time control of physically based simulations using gentle forces |
| title_full_unstemmed | Real-time control of physically based simulations using gentle forces |
| title_short | Real-time control of physically based simulations using gentle forces |
| title_sort | real time control of physically based simulations using gentle forces |
| url | http://hdl.handle.net/1721.1/100440 |
| work_keys_str_mv | AT barbicjernej realtimecontrolofphysicallybasedsimulationsusinggentleforces AT popovicjovan realtimecontrolofphysicallybasedsimulationsusinggentleforces |