Primal/Dual Descent Methods for Dynamics
| Autor: | Matthias Müller, Nuttapong Chentanez, Miles Macklin, Stefan Jeschke, Tae-Yong Kim, Kenny Erleben |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Mathematical optimization
Computer science Numerical analysis 020207 software engineering 02 engineering and technology Trajectory optimization Solver Rigid body Computer Graphics and Computer-Aided Design Dual (category theory) Contact force 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Point (geometry) Differentiable function |
| Zdroj: | Computer Graphics Forum. 39:89-100 |
| ISSN: | 1467-8659 0167-7055 |
| Popis: | We examine the relationship between primal, or force-based, and dual, or constraint-based formulations of dynamics. Variational frameworks such as Projective Dynamics have proved popular for deformable simulation, however they have not been adopted for contact-rich scenarios such as rigid body simulation. We propose a new preconditioned frictional contact solver that is compatible with existing primal optimization methods, and competitive with complementarity-based approaches. Our relaxed primal model generates improved contact force distributions when compared to dual methods, and has the advantage of being differentiable, making it well-suited for trajectory optimization. We derive both primal and dual methods from a common variational point of view, and present a comprehensive numerical analysis of both methods with respect to conditioning. We demonstrate our method on scenarios including rigid body contact, deformable simulation, and robotic manipulation. |
| Databáze: | OpenAIRE |
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