Knot Tightening By Constrained Gradient Descent

We present new computations of approximately length-minimizing polygons with fixed thickness. These curves model the centerlines of "tight" knotted tubes with minimal length and fixed circular cross-section. Our curves approximately minimize the ropelength (or quotient of length and thickness) for polygons in their knot types. While previous authors have minimized ropelength for polygons using simulated annealing, the new idea in our code is to minimize length over the set of polygons of thickness at least one using a version of constrained gradient descent. We rewrite the problem in terms of minimizing the length of the polygon subject to an infinite family of differentiable constraint functions. We prove that the polyhedral cone of variations of a polygon of thickness one which do not decrease thickness to first order is finitely generated, and give an explicit set of generators. Using this cone we give a first-order minimization procedure and a Karush-Kuhn-Tucker criterion for polygonal ropelength criticality. Our main numerical contribution is a set of 379 almost-critical prime knots and links, covering all prime knots with no more than 10 crossings and all prime links with no more than 9 crossings. For links, these are the first published ropelength figures, and for knots they improve on existing figures. We give new maps of the self-contacts of these knots and links, and discover some highly symmetric tight knots with particularly simple looking self-contact maps.Comment: 45 pages, 16 figures, includes table of data with upper bounds on ropelength for all prime knots with no more than 10 crossings and all prime links with no more than 9 crossing

The Shapes of Tight Composite Knots

We present new computations of tight shapes obtained using the constrained gradient descent code RIDGERUNNER for 544 composite knots with 12 and fewer crossings, expanding our dataset to 943 knots and links. We use the new data set to analyze two outstanding conjectures about tight knots, namely that the ropelengths of composite knots are at least 4\pi-4 less than the sums of the prime factors and that the writhes of composite knots are the sums of the writhes of the prime factors.Comment: Summary text file of tight knot lengths and writhing numbers stored in anc/ropelength_data.txt. All other data freely available at http:://www.jasoncantarella.com/ and through Data Conservanc

Symmetric Criticality for Tight Knots

We prove a version of symmetric criticality for ropelength-critical knots. Our theorem implies that a knot or link with a symmetric representative has a ropelength-critical configuration with the same symmetry. We use this to construct new examples of ropelength critical configurations for knots and links which are different from the ropelength minima for these knot and link types.Comment: This version adds references, and most importantly an acknowledgements section which should have been in the original postin

Fast GPU-Based Two-Way Continuous Collision Handling

Step-and-project is a popular way to simulate non-penetrated deformable bodies in physically-based animation. First integrating the system in time regardless of contacts and post resolving potential intersections practically strike a good balance between plausibility and efficiency. However, existing methods could be defective and unsafe when the time step is large, taking risks of failures or demands of repetitive collision testing and resolving that severely degrade performance. In this paper, we propose a novel two-way method for fast and reliable continuous collision handling. Our method launches the optimization at both ends of the intermediate time-integrated state and the previous intersection-free state, progressively generating a piecewise-linear path and finally reaching a feasible solution for the next time step. Technically, our method interleaves between a forward step and a backward step at a low cost, until the result is conditionally converged. Due to a set of unified volume-based contact constraints, our method can flexibly and reliably handle a variety of codimensional deformable bodies, including volumetric bodies, cloth, hair and sand. The experiments show that our method is safe, robust, physically faithful and numerically efficient, especially suitable for large deformations or large time steps