87 citations · 279 across the 16 of their papers we have counts for
3 papers · 1 filter
Non-Smooth Newton Methods for Deformable Multi-Body Dynamics
Miles Macklin, Kenny Erleben, Matthias Müller +3
We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves t…
VIPER: Volume Invariant Position-based Elastic Rods
Baptiste Angles, Daniel Rebain, Miles Macklin +8
We extend the formulation of position-based rods to include elastic volumetric deformations. We achieve this by introducing an additional degree of freedom per vertex -- isotropic…
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes
Renato Gasoto, Miles Macklin, Xuan Liu +4
In this work we present a framework that is capable of accurately representing soft robotic actuators in a multiphysics environment in real-time. We propose a constraint-based dyna…