dvc3D: a three dimensional physical simulation tool for rigid bodies with contacts and Coulomb friction

摘要

In this paper, we introduce a physical simulation library for three-dimensional for multi-rigid-bodies dynamics with contacts and Coulomb friction named dvc3d. The library focuses on time stepping simulation methods that have been justified in theories to converge to the underlying physical models as step size goes to zero. We further verify dvc3D's simulation accuracy by comparing with experimental results. We also discuss a recent addition of a new contact model that is capable of handling locally non-convex configuration spaces that are usually incorrectly modeled in other methods. Then, we follow by the discussion of dvc3D's two types of solvers: accurate but slow direct methods that are suitable for small scientific simulation scenes or fast but less accurate iterative approaches that can handle much larger systems of bodies.