A FULLY GPU-IMPLEMENTED RIGID BODY SIMULATOR

Álvaro del Monte, Roberto Torres, Pedro J. Martín, Antonio Gavilanes

2008

Abstract

In this paper we study how to implement a fully GPU-based rigid body simulator by programming shaders for every phase of the simulation. We analyze the pros and cons of different approaches, and point out the bottlenecks we have detected. We also apply the developed techniques to two case studies, comparing them with the analogous versions running on CPU.

References

  1. Baraff, D., 1989. Analytical Methods for Dynamic Simulation of Non-Penetrating Rigid Bodies. In SIGGRAPH'89, 223-232.
  2. Baraff, D., 1997. Rigid Body Simulation. An Introduction to Physically Based Modeling. In SIGGRAPH'97, course notes.
  3. Buck, I., Purcell, T., 2004. A Toolkit for Computation on GPUs. In GPU Gems, Addison-Wesley, 621-636.
  4. Göddeke, D., 2005. GPGPU: Basic Math Tutorial. TR. 300, Fachbereich Mathematik, Universität Dortmund.
  5. Govindaraju, N., Lin, M., Manocha, D., 2005. QuickCULLIDE: Fast Inter- and Intra-Object Collision Culling Using Graphics Hardware. In IEEE Virtual Reality Conference, 59-66, 319.
  6. Greß, A., Guthe, M., Klein, R., 2006. GPU-based Collision Detection for Deformable Parameterized Surfaces. In Computer Graphics Forum 25(3), 497-506.
  7. Greß, A., Zachmann, G., 2004. Object-Space Interference Detection on Programmable Graphics Hardware. In Geometric Modeling and Computation. Proc. of SIAM Conference on Geometric Design and Computing, 311-328.
  8. Gu, X., Gortler, S., Hoppe, H., 2002. Geometry Images. In ACM Trans. Graph 21(3), 355-361.
  9. Horn, D., 2005. Stream reduction operations for GPGPU applications. In GPU Gems 2, Addison-Wesley, 573- 589.
  10. Kim, J., Kim, S., Ko, H., Terzopoulos, D., 2006. Fast GPU Computation of the Mass Properties of a General Shape and its Application to Bouyancy Simulation. In Int. Journal of Computer Graphics 22(9), 856-864.
  11. Krüger, J., Kipfer, P., Kondratieva, P., Westermann, R., 2005. A Particle System for Interactive Visualization of 3D Flows. In IEEE Transactions on Visualization and Computer Graphics 11(6), 744-756.
  12. McKenna, M., Zeltzer, D., 1990. Dynamic Simulation of Autonomous Legged Locomotion. In Computer Graphics 24(4), 29-38.
  13. Mirtich, B., 1996. Impulse-Based Dynamic Simulation of Rigid Body Systems. Ph. D. dissertation. University of California, Berkeley, CA.
  14. Mirtich, B., 2000. Timewarp Rigid Body Simulation. In SIGGRAPH'00, 193-200.
  15. O'Rourke, J., 1993. Computational Geometry in C, Cambridge University Press.
  16. Pascale, M., Sarcuni, G., Prattichizzo, D., 2005. RealTime Soft-Finger Grasping of Physically Based QuasiRigid Objects. In World Haptic Conference, 545-546.
  17. Raabe, A., Hochgürtel, S., Anlauf, J., Zachmann, G., 2006. Hardware-Accelerated Collision Detection using Bounded-Error Fixed-Point Arithmetic. In Journal of WSCG 14, 17-24.
  18. Teschner, M., Kimmerle, S., Heidelberger, B., Zachmman, G., Raghupathi, L., Furmann, A., Cani, M., Faure, F., Magnenat-Thalmann, N., Strasser, W., Volino, P., 2005. Collision detection for deformable objects. In Computer Graphics Forum 24(1), 61-81.
  19. Yuksel, C., 2007. Real-Time Impulse-Based Rigid Body Simulation and Rendering. Master Thesis, Texas A&M University.
  20. Zhang, X., Kim, Y. J., 2007. Interactive Collision Detection for Deformable Models using Streaming AABBs. In IEEE Trans. on Visualization and Computer Graphics 13(2), 318-329.
Download


Paper Citation


in Harvard Style

del Monte Á., Torres R., J. Martín P. and Gavilanes A. (2008). A FULLY GPU-IMPLEMENTED RIGID BODY SIMULATOR . In Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008) ISBN 978-989-8111-20-3, pages 342-350. DOI: 10.5220/0001098503420350


in Bibtex Style

@conference{grapp08,
author={Álvaro del Monte and Roberto Torres and Pedro J. Martín and Antonio Gavilanes},
title={A FULLY GPU-IMPLEMENTED RIGID BODY SIMULATOR},
booktitle={Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)},
year={2008},
pages={342-350},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001098503420350},
isbn={978-989-8111-20-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)
TI - A FULLY GPU-IMPLEMENTED RIGID BODY SIMULATOR
SN - 978-989-8111-20-3
AU - del Monte Á.
AU - Torres R.
AU - J. Martín P.
AU - Gavilanes A.
PY - 2008
SP - 342
EP - 350
DO - 10.5220/0001098503420350