Adaptive Physics Engine for Rendering Rigid Body and or Soft Body Physics for Virtual Objects in Contact with Voxelized Fluid

摘要

A method for determining forces on a rigid body at least partially immersed in a fluid medium includes steps for (a) dividing the rigid body into a number of cells; (b) calculating buoyancy force on each rigid body cell separately, taking into account properties of the fluid medium, situation as to submersion of each cell, and position of each cell in the rigid body; and (c) integrating the separate buoyancy forces to determine the net force vector and any torque on the rigid body.