Intuitive Control of Dynamic Simulation Using Improved Implicit Constraint Enforcement

Geometric constraints are imperative components of many dynamic simulation systems to effectively control the behavior of simulated objects. In this paper we present an improved first-order implicit constraint enforcement scheme to achieve improved accuracy without significant computational burden. Our improved implicit constraint enforcement technique is seamlessly integrated into a dynamic simulation system to achieve desirable motions during the simulation using constraint forces and doesn’t require parameter tweaking for numerical stabilization. Our experimental results show improved accuracy in maintaining constraints in comparison with our previous first-order implicit constraint method and the notable explicit Baumgarte method. The improved accuracy in constraint enforcement contributes to the effective and intuitive motion control in dynamic simulations. To demonstrate the wide applicability, the proposed constraint scheme is successfully applied to the prevention of excessive elongation of cloth springs, the realistic motion of cloth under arduous collision conditions, and the modeling of a joint for a rigid body robot arm.