## Eulerian Solids

Soft tissues are usually simulated using the Finite Element Method (FEM), with the Lagrangian approach that is the standard in engineering. In this approach the simulation tracks the position of material points over time. In contrast, in an Eulerian approach the space in which the […]

## Real-time Soft Body Dynamics and Contact with GPUs

A long standing challenge had been fast simulation of realistic soft body dynamics, a computationally expensive task. In 2002, when the programmable graphics processor (GPU) was first introduced, we showed how precomputed modal deformation models could be efficiently mapped onto such massively parallel architectures with negligible main CPU costs. The precomputation is stored as a […]

## ArtDefo: Real Time Elastostatics using Boundary Elements (BEM) and Precomputed Green’s functions

We developed a general framework for low-latency simulation of large linear elastostatic deformable models, suitable for real time animation and haptic interaction in virtual environments. The deformation is described using precomputed Green’s functions, and runtime boundary value problems are solved using Capacitance Matrix Algorithms. We introduced boundary element (BEM) techniques for precomputing Green’s functions, and […]

## ACME: Scanning Physical Interaction Behavior of 3D Objects

Starting around 1998, we developed the UBC ACtive MEasurement facility (ACME), a telerobotic system for capturing comprehensive computer models of physical interaction behavior of real 3D objects. The behaviors we could successfully scan and model include deformation response, contact textures for interaction with force-feedback, and contact sounds. We also developed a novel software architecture for […]