Abstract: Methods and systems for executing a simulation of a multibody system are described herein. In one broad aspect, there is provided a computer-implemented method for executing a simulation of a multibody system, where a physics-based simulator is used to simulate the multibody system by: partitioning the multibody system into a plurality of subsystems, the multibody system comprising bilateral and unilateral constraints, and a set of interfaces that couple at least two of the subsystems is defined; at each of a plurality of time steps, employing a Schur complement method to compute an effective mass at each interface of the set of interfaces, and solving each of the plurality of subsystems to obtain a plurality of internal impulses.
Type:
Grant
Filed:
October 19, 2018
Date of Patent:
November 9, 2021
Assignee:
CMLABS SIMULATIONS INC.
Inventors:
Albert Peiret Gimenez, Sheldon Paul Andrews, Jozsef Kovecses, Paul Gregory Kry, Marek Teichmann
Abstract: Methods of and systems for executing a simulation of a constrained multi-body system. The method comprises, using a physics engine, simulating the constrained multi-body system, wherein: the constrained multi-body system comprises articulated constraints, the articulated constraints are associated with a geometric stiffness matrix; the geometric stiffness matrix defining a geometric stiffness; a diagonal approximation of the geometric stiffness matrix is generated; and the diagonal approximation is used as part of a stability analysis in which damping is automatically adjusted so that the damping stabilizes the simulation of the constrained multi-body system.
Type:
Grant
Filed:
April 23, 2018
Date of Patent:
July 14, 2020
Assignee:
CMLABS SIMULATIONS INC.
Inventors:
Sheldon Paul Andrews, Paul Gregory Kry, Marek Teichmann