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Underwater rigid body dynamics

Authors:

Steffen Weißmann,

Ulrich PinkallAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 31, Issue 4

Article No.: 104, Pages 1 - 7

https://doi.org/10.1145/2185520.2185600

Published: 01 July 2012 Publication History

Abstract

We show that the motion of rigid bodies under water can be realistically simulated by replacing the usual inertia tensor and scalar mass by the so-called Kirchhoff tensor. This allows us to model fluid-body interaction without simulating the surrounding fluid at all. We explain some of the phenomena that arise and compare our results against real experiments. It turns out that many real scenarios (sinking bodies, balloons) can be matched using a single, hand-tuned scaling parameter. We describe how to integrate our method into an existing physics engine, which makes underwater rigid body dynamics run in real time.

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Cited By

Soliman YPadilla MGross OKnöppel FPinkall USchröder P(2024)Going with the FlowACM Transactions on Graphics10.1145/365816443:4(1-12)Online publication date: 19-Jul-2024
https://dl.acm.org/doi/10.1145/3658164
Gross OSoliman YPadilla MKnöppel FPinkall USchröder P(2023)Motion from Shape ChangeACM Transactions on Graphics10.1145/359241742:4(1-11)Online publication date: 26-Jul-2023
https://dl.acm.org/doi/10.1145/3592417
Yin HNabizadeh MWu BWang SChern A(2023)Fluid CohomologyACM Transactions on Graphics10.1145/359240242:4(1-25)Online publication date: 26-Jul-2023
https://dl.acm.org/doi/10.1145/3592402
Show More Cited By

Index Terms

Underwater rigid body dynamics
1. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Physical simulation
    2. Shape modeling
2. Mathematics of computing
  1. Continuous mathematics
    1. Topology
      1. Geometric topology

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 31, Issue 4

July 2012

935 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/2185520

Issue’s Table of Contents

Copyright © 2012 ACM.

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Publication History

Published: 01 July 2012

Published in TOG Volume 31, Issue 4

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Cited By

Soliman YPadilla MGross OKnöppel FPinkall USchröder P(2024)Going with the FlowACM Transactions on Graphics10.1145/365816443:4(1-12)Online publication date: 19-Jul-2024
https://dl.acm.org/doi/10.1145/3658164
Gross OSoliman YPadilla MKnöppel FPinkall USchröder P(2023)Motion from Shape ChangeACM Transactions on Graphics10.1145/359241742:4(1-11)Online publication date: 26-Jul-2023
https://dl.acm.org/doi/10.1145/3592417
Yin HNabizadeh MWu BWang SChern A(2023)Fluid CohomologyACM Transactions on Graphics10.1145/359240242:4(1-25)Online publication date: 26-Jul-2023
https://dl.acm.org/doi/10.1145/3592402
Abbaszadeh SKiiski YLeidhold RHoerner S(2023)On the influence of head motion on the swimming kinematics of robotic fishBioinspiration & Biomimetics10.1088/1748-3190/aceedb18:5(056007)Online publication date: 29-Aug-2023
https://doi.org/10.1088/1748-3190/aceedb
de Cerqueira Gava PNascimento Júnior CBelchior de França Silva JAdabo G(2022)Simu2VITA: A General Purpose Underwater Vehicle SimulatorSensors10.3390/s2209325522:9(3255)Online publication date: 24-Apr-2022
https://doi.org/10.3390/s22093255
Ishida SWojtan CChern A(2022)Hidden Degrees of Freedom in Implicit Vortex FilamentsACM Transactions on Graphics10.1145/3550454.355545941:6(1-14)Online publication date: 30-Nov-2022
https://dl.acm.org/doi/10.1145/3550454.3555459
Bajo JPatow GDelrieux C(2020)Realistic Buoyancy Model for Real‐Time ApplicationsComputer Graphics Forum10.1111/cgf.1401339:6(217-231)Online publication date: 19-May-2020
https://doi.org/10.1111/cgf.14013
Edge CSakib Enan SFulton MHong JMo JBarthelemy KBashaw HKallevig BKnutson COrpen KSattar J(2020)Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS45743.2020.9341007(1761-1768)Online publication date: 24-Oct-2020
https://doi.org/10.1109/IROS45743.2020.9341007
Xie HIgarashi TMiyata K(2018)Precomputed Panel Solver for Aerodynamics SimulationACM Transactions on Graphics10.1145/318576737:2(1-12)Online publication date: 23-Mar-2018
https://dl.acm.org/doi/10.1145/3185767
Kumar SWarier RSukumar S(2017)Adaptive tracking of position and attitude of a underwater rigid-body2017 Indian Control Conference (ICC)10.1109/INDIANCC.2017.7846513(432-436)Online publication date: Jan-2017
https://doi.org/10.1109/INDIANCC.2017.7846513
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