Improved Collision Detection and Response Techniques for Cloth Animation

In the animation of deformable objects, collision detection and response are crucial for the performance. Contrary to volumetric bodies, the accuracy requirements for the collision treatment of textiles are particularly strict because any overlapping is visible. Therefore, we apply methods specifically designed for deformable surfaces that speed up the collision detection. In this paper the efficiency of bounding volume hierarchies is improved by adapted techniques for building and traversing these hierarchies. An extended set of heuristics is described that allows to prune the hierarchy. Oriented inflation of bounding volumes enables us to detect proximities with a minimum of extra cost. Eventually, the distance of the mesh faces is computed accurately, and constraints respond to the collisions

Fast Penetration Depth Estimation for Elastic Bodies

We present a fast penetration depth estimation algorithm between deformable polyhedral objects. We assume the continuum of non-rigid models are discretized using standard techniques, such as finite element or finite difference methods. As the objects deform, the pre-computed distance fields are deformed accordingly to estimate penetration depth, allowing enforcement of non-penetration constraints between two colliding elastic bodies. This approach can automatically handle self-penetration and inter-penetration in a uniform manner. We demonstrate its effectiveness on moderately complex simulation scenes

A virtual environment for the modelling, simulation and manufacturing of orthopaedic devices

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.The objective of this work is to investigate whether the game physics based modelling is accurate enough to be used in modelling the motion of the human body, in particular musculoskeletal motion. Hitherto, the implementation of game physics in the medical field focused only on anatomical representation for education and training purposes. Introducing gaming platforms and physics engines into orthopaedics applications will help to overcome several difficulties encountered in the modelling of articular joints. Implementing a physics engine (PhysX), which is mainly designed for video games, handles intensive computations in optimized ways at an interactive speed. In this study, the capabilities of the physics engine (PhysX) and gaming platform for modelling and simulating articular joints are evaluated. First, a preliminary validation is carried out for mechanical systems with analytical solutions, before constructing the musculoskeletal model to evaluate the consistency of gaming platforms. The developed musculoskeletal model deals with the human joint as an unconstrained system with 6 DOF which is not available with other joint modeller. The model articulation is driven by contact surfaces and the stiffness of surrounding tissues. A number of contributions, such as contact modelling and muscle wrapping, have been made in this research to overcome some existing challenges in joint modelling. Using muscle segmentation, the proposed technique effectively handles the problem of muscle wrapping, a major concern for many; thus the shortest path and line of action are no longer problematic. Collision behaviour has also shown a stable response for colliding as well as resting objects, provided that it is based on the principles of surface properties and the conservation of linear and angular momentums. The precision of collision detection and response are within an acceptable tolerance controllable by varying the mesh density. An image based analysis system is developed in this thesis, mainly in order to validate the proposed physics based modelling solution. This minimally invasive method is based on the analysis of marker positions located at bony positions with minimal skin movement. The image based system overcomes several challenges associated with the currently existing methods, such as inaccuracy, complication, impracticability and cost. The analysis part of this research has considered the elbow joint as a case study to investigate and validate the proposed physics based model. Beside the interactive 3D simulation, the obtained results are validated by comparing them with the image based system developed within the current research to investigate joint kinematics and laxity and also with published material, MJM and results from experiments performed at the Brunel Orthopaedic Research and Learning Centre. The proposed modelling shows the advantageous speed, reliability and flexibility of the proposed model. It is shown that the gaming platform and physics engine provide a viable solution to human musculoskeletal modelling. Finally, this thesis considers an extended implementation of the proposed platform for testing and assessing the design of custom-made implants, to enhance joint performance. The developed simulation software is expected to give indicative results as well as testing different types of prosthetic implant. Design parameterization and sensitivity analysis for geometrical features are discussed. Thus, an integrated environment is proposed to link the real-time simulation software with a manufacturing environment so as to assist the production of patient specific implants by rapid manufacturing

Collision Detection and Merging of Deformable B-Spline Surfaces in Virtual Reality Environment

This thesis presents a computational framework for representing, manipulating and merging rigid and deformable freeform objects in virtual reality (VR) environment. The core algorithms for collision detection, merging, and physics-based modeling used within this framework assume that all 3D deformable objects are B-spline surfaces. The interactive design tool can be represented as a B-spline surface, an implicit surface or a point, to allow the user a variety of rigid or deformable tools. The collision detection system utilizes the fact that the blending matrices used to discretize the B-spline surface are independent of the position of the control points and, therefore, can be pre-calculated. Complex B-spline surfaces can be generated by merging various B-spline surface patches using the B-spline surface patches merging algorithm presented in this thesis. Finally, the physics-based modeling system uses the mass-spring representation to determine the deformation and the reaction force values provided to the user. This helps to simulate realistic material behaviour of the model and assist the user in validating the design before performing extensive product detailing or finite element analysis using commercially available CAD software. The novelty of the proposed method stems from the pre-calculated blending matrices used to generate the points for graphical rendering, collision detection, merging of B-spline patches, and nodes for the mass spring system. This approach reduces computational time by avoiding the need to solve complex equations for blending functions of B-splines and perform the inversion of large matrices. This alternative approach to the mechanical concept design will also help to do away with the need to build prototypes for conceptualization and preliminary validation of the idea thereby reducing the time and cost of concept design phase and the wastage of resources

Real-time simulation and visualisation of cloth using edge-based adaptive meshes

Real-time rendering and the animation of realistic virtual environments and characters has progressed at a great pace, following advances in computer graphics hardware in the last decade. The role of cloth simulation is becoming ever more important in the quest to improve the realism of virtual environments. The real-time simulation of cloth and clothing is important for many applications such as virtual reality, crowd simulation, games and software for online clothes shopping. A large number of polygons are necessary to depict the highly exible nature of cloth with wrinkling and frequent changes in its curvature. In combination with the physical calculations which model the deformations, the effort required to simulate cloth in detail is very computationally expensive resulting in much diffculty for its realistic simulation at interactive frame rates. Real-time cloth simulations can lack quality and realism compared to their offline counterparts, since coarse meshes must often be employed for performance reasons. The focus of this thesis is to develop techniques to allow the real-time simulation of realistic cloth and clothing. Adaptive meshes have previously been developed to act as a bridge between low and high polygon meshes, aiming to adaptively exploit variations in the shape of the cloth. The mesh complexity is dynamically increased or refined to balance quality against computational cost during a simulation. A limitation of many approaches is they do not often consider the decimation or coarsening of previously refined areas, or otherwise are not fast enough for real-time applications. A novel edge-based adaptive mesh is developed for the fast incremental refinement and coarsening of a triangular mesh. A mass-spring network is integrated into the mesh permitting the real-time adaptive simulation of cloth, and techniques are developed for the simulation of clothing on an animated character

Survey on model-based manipulation planning of deformable objects

A systematic overview on the subject of model-based manipulation planning of deformable objects is presented. Existing modelling techniques of volumetric, planar and linear deformable objects are described, emphasizing the different types of deformation. Planning strategies are categorized according to the type of manipulation goal: path planning, folding/unfolding, topology modifications and assembly. Most current contributions fit naturally into these categories, and thus the presented algorithms constitute an adequate basis for future developments.Preprin

Design and development of a VR system for exploration of medical data using haptic rendering and high quality visualization

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An Intestinal Surgery Simulator: Real-Time Collision Processing and Visualization

International audienceThis research work is aimed towards the development of a VR-based trainer for colon cancer removal. It enables the surgeons to interactively view and manipulate the concerned virtual organs as during a real surgery. First, we present a method for animating the small intestine and the mesentery (the tissue that connects it to the main vessels) in real-time, thus enabling user-interaction through virtual surgical tools during the simulation. We present a stochastic approach for fast collision detection in highly deformable, self-colliding objects. A simple and efficient response to collisions is also introduced in order to reduce the overall animation complexity. Secondly, we describe a new method based on generalized cylinders for fast rendering of the intestine. An efficient curvature detection method, along with an adaptive sampling algorithm is presented. This approach, while providing improved tessellation without the classical self-intersection problem, also allows for high-performance rendering, thanks to the new 3D skinning feature available in recent GPUs. The rendering algorithm is also designed to ensure a guaranteed frame rate. Finally, we present the quantitative results of the simulations and describe the qualitative feedback obtained from the surgeons

FIMCAR XII: Influence on Other Impact Types

The objective of this deliverable is to describe the expected influence of the candidate test procedures developed in FIMCAR for frontal impact on other impact types. The other impact types of primary interest are front-to-side impacts, collisions with road restraint systems (e.g. guardrails), and heavy goods vehicle impacts. These collision types were chosen as they involve structures that can be adapted to improve safety. Collisions with vulnerable road users (VRU) were not explicitly investigated in FIMCAR. It is expected that the vehicle structures of interest in FIMCAR can be designed into a VRU friendly shell. Information used for this deliverable comes from simulations and car-to-car crash tests conducted in FIMCAR or review of previous research. Three test configurations (full width, offset, and moving deformable barriers) were the input to the FIMCAR selection process. There are three different types of offset tests and two different full width tests. During the project test procedures could be divided into three groups that provide different influences or outcomes on vehicle designs: 1. The ODB barrier provides a method to assess part of the vehicles energy absorption capabilities and compartment test in one test 2. The FWRB and FWDB have similar capabilities to control structural alignment, further assess energy absorption capabilities, and promote the improvements in the occupant restraint system for high deceleration impacts. 3. The PDB and MPDB can be used to promote better load spreading in the vehicle structures, in addition to assessing energy absorption and occupant compartment strength in an offset configuration. The consortium selected the ODB and FWDB as the two best candidates for short term application in international rulemaking. The review of how all candidates would affect vehicle performance in other impacts (beside front-to-front vehicle or frontal impacts with fixed obstacles) however is reported in this deliverable to support the benefit analysis reported in FIMCAR. The grouping presented above is used to discuss all five test candidates using similarities between certain tests and thereby simplify the discussion