Physics Engine Development
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Master's Thesis
MASTER'S THESIS Online Model Predictive Control of a Robotic System by Combining Simulation and Optimization Mohammad Rokonuzzaman Pappu 2015 Master of Science (120 credits) Space Engineering - Space Master Luleå University of Technology Department of Computer Science, Electrical and Space Engineering Mohammad Rokonuzzaman Pappu Online Model Predictive Control of a Robotic System by Combining Simulation and Optimization School of Electrical Engineering Department of Electrical Engineering and Automation Thesis submitted in partial fulfillment of the requirements for the degree of Master of Science in Technology Espoo, August 18, 2015 Instructor: Professor Perttu Hämäläinen Aalto University School of Arts, Design and Architecture Supervisors: Professor Ville Kyrki Professor Reza Emami Aalto University Luleå University of Technology School of Electrical Engineering Preface First of all, I would like to express my sincere gratitude to my supervisor Pro- fessor Ville Kyrki for his generous and patient support during the work of this thesis. He was always available for questions and it would not have been possi- ble to finish the work in time without his excellent guidance. I would also like to thank my instructor Perttu H¨am¨al¨ainen for his support which was invaluable for this thesis. My sincere thanks to all the members of Intelligent Robotics group who were nothing but helpful throughout this work. Finally, a special thanks to my colleagues of SpaceMaster program in Helsinki for their constant support and encouragement. Espoo, August 18, -
Agx Multiphysics Download
Agx multiphysics download click here to download A patch release of AgX Dynamics is now available for download for all of our licensed customers. This version include some minor. AGX Dynamics is a professional multi-purpose physics engine for simulators, Virtual parallel high performance hybrid equation solvers and novel multi- physics models. Why choose AGX Dynamics? Download AGX product brochure. This video shows a simulation of a wheel loader interacting with a dynamic tree model. High fidelity. AGX Multiphysics is a proprietary real-time physics engine developed by Algoryx Simulation AB Create a book · Download as PDF · Printable version. AgX Multiphysics Toolkit · Age Of Empires III The Asian Dynasties Expansion. Convert trail version Free Download, product key, keygen, Activator com extended. free full download agx multiphysics toolkit from AYS search www.doorway.ru have many downloads related to agx multiphysics toolkit which are hosted on sites like. With AGXUnity, it is possible to incorporate a real physics engine into a well Download from the prebuilt-packages sub-directory in the repository www.doorway.rug: multiphysics. A www.doorway.ru app that runs a physics engine and lets clients download physics data in real Clone or download AgX Multiphysics compiled with Lua support. Agx multiphysics toolkit. Developed physics the was made dynamics multiphysics simulation. Runtime library for AgX MultiPhysics Library. How to repair file. Original file to replace broken file www.doorway.ru Download. Current version: Some short videos that may help starting with AGX-III. Example 1: Finding a possible Pareto front for the Balaban Index in the Missing: multiphysics. -
An Optimal Solution for Implementing a Specific 3D Web Application
IT 16 060 Examensarbete 30 hp Augusti 2016 An optimal solution for implementing a specific 3D web application Mathias Nordin Institutionen för informationsteknologi Department of Information Technology Abstract An optimal solution for implementing a specific 3D web application Mathias Nordin Teknisk- naturvetenskaplig fakultet UTH-enheten WebGL equips web browsers with the ability to access graphic cards for extra processing Besöksadress: power. WebGL uses GLSL ES to communicate with graphics cards, which uses Ångströmlaboratoriet Lägerhyddsvägen 1 different Hus 4, Plan 0 instructions compared with common web development languages. In order to simplify the development process there are JavaScript libraries handles the Postadress: Box 536 751 21 Uppsala communication with WebGL. On the Khronos website there is a listing of 35 different Telefon: JavaScript libraries that access WebGL. 018 – 471 30 03 It is time consuming for developers to compare the benefits and disadvantages of all Telefax: these 018 – 471 30 00 libraries to find the best WebGL library for their need. This thesis sets up requirements of a Hemsida: specific WebGL application and investigates which libraries that are best for http://www.teknat.uu.se/student implmeneting its requirements. The procedure is done in different steps. Firstly is the requirements for the 3D web application defined. Then are all the libraries analyzed and mapped against these requirements. The two libraries that best fulfilled the requirments is Three.js with Physi.js and Babylon.js. The libraries is used in two seperate implementations of the intitial game. Three.js with Physi.js is the best libraries for implementig the requirements of the game. -
Procedural Destruction of Objects for Computer Games
Procedural Destruction of Objects for Computer Games PUBLIC VERSION THESIS submitted in partial fulfilment of the requirements for the degree of MASTER OF SCIENCE in MEDIA AND KNOWLEDGE ENGINEERING by Joris van Gestel born in Zevenhuizen, the Netherlands Computer Graphics and CAD/CAM Group Cannibal Game Studios Department of Mediamatics Molengraaffsingel 12-14 Faculty of EEMCS, Delft University of Technology 2629 JD Delft Delft, the Netherlands The Netherlands www.ewi.tudelft.nl www.cannibalgamestudios.com Author: Joris van Gestel Student id: 1099825 Email: [email protected] Date: May 10, 2011 © 2011 Cannibal Game Studios. All Rights Reserved i Summary Traditional content creation for computer games is a costly process. In particular, current techniques for authoring destructible behaviour are labour intensive and often limited to a single object basis. We aim to create an intuitive approach which allows designers to visually define destructible behaviour for objects in a reusable manner, which can then be applied in real-time. First we present a short introduction into the way that destruction has been done in games for many years. To better understand the physical processes that are being replicated, we present some information on how destruction works in the real world, and the high level approaches that have developed to simulate these processes. Using criteria gathered from industry professionals, we survey previous research work and determine their usability in a game development context. The approach which suits these criteria best is then selected as the basis for the approach presented in this work. By examining commercial solutions the shortcomings of existing technologies are determined to establish a solution direction. -
FREE STEM Apps for Common Core Daniel E
Georgia Southern University Digital Commons@Georgia Southern Interdisciplinary STEM Teaching & Learning Conference Mar 6th, 2:45 PM - 3:30 PM FREE STEM Apps for Common Core Daniel E. Rivera Mr. Georgia Southern University, [email protected] Follow this and additional works at: https://digitalcommons.georgiasouthern.edu/stem Recommended Citation Rivera, Daniel E. Mr., "FREE STEM Apps for Common Core" (2015). Interdisciplinary STEM Teaching & Learning Conference. 38. https://digitalcommons.georgiasouthern.edu/stem/2015/2015/38 This event is brought to you for free and open access by the Conferences & Events at Digital Commons@Georgia Southern. It has been accepted for inclusion in Interdisciplinary STEM Teaching & Learning Conference by an authorized administrator of Digital Commons@Georgia Southern. For more information, please contact [email protected]. STEM Apps for Common Core Access/Edit this doc online: http://goo.gl/bLkaXx Science is one of the most amazing fields of study. It explains our universe. It enables us to do the impossible. It makes sense of mystery. What many once believed were supernatural or magical events, we now explain, understand, and can apply to our everyday lives. Every modern marvel we have - from medicine, to technology, to agriculture- we owe to the scientific study of those before us. We stand on the shoulders of giants. It is therefore tremendously disappointing that so many regard science as simply a nerdy pursuit, or with contempt, or with boredom. In many ways w e stopped dreaming. Yet science is the alchemy and magic of yesterday, harnessed for humanity's benefit today. Perhaps no other subject has been so thoroughly embraced by the Internet and modern computing. -
Software Design for Pluggable Real Time Physics Middleware
2005:270 CIV MASTER'S THESIS AgentPhysics Software Design for Pluggable Real Time Physics Middleware Johan Göransson Luleå University of Technology MSc Programmes in Engineering Department of Computer Science and Electrical Engineering Division of Computer Science 2005:270 CIV - ISSN: 1402-1617 - ISRN: LTU-EX--05/270--SE AgentPhysics Software Design for Pluggable Real Time Physics Middleware Johan GÄoransson Department of Computer Science and Electrical Engineering, LuleºaUniversity of Technology, [email protected] October 27, 2005 Abstract This master's thesis proposes a software design for a real time physics appli- cation programming interface with support for pluggable physics middleware. Pluggable means that the actual implementation of the simulation is indepen- dent and interchangeable, separated from the user interface of the API. This is done by dividing the API in three layers: wrapper, peer, and implementation. An evaluation of Open Dynamics Engine as a viable middleware for simulating rigid body physics is also given based on a number of test applications. The method used in this thesis consists of an iterative software design based on a literature study of rigid body physics, simulation and software design, as well as reviewing related work. The conclusion is that although the goals set for the design were ful¯lled, it is unlikely that AgentPhysics will be used other than as a higher level API on top of ODE, and only ODE. This is due to a number of reasons such as middleware speci¯c tools and code containers are di±cult to support, clash- ing programming paradigms produces an error prone implementation layer and middleware developers are reluctant to port their engines to Java. -
Physics Simulation Game Engine Benchmark Student: Marek Papinčák Supervisor: Doc
ASSIGNMENT OF BACHELOR’S THESIS Title: Physics Simulation Game Engine Benchmark Student: Marek Papinčák Supervisor: doc. Ing. Jiří Bittner, Ph.D. Study Programme: Informatics Study Branch: Web and Software Engineering Department: Department of Software Engineering Validity: Until the end of summer semester 2018/19 Instructions Review the existing tools and methods used for physics simulation in contemporary game engines. In the review, cover also the existing benchmarks created for evaluation of physics simulation performance. Identify parts of physics simulation with the highest computational overhead. Design at least three test scenarios that will allow to evaluate the dependence of the simulation on carefully selected parameters (e.g. number of colliding objects, number of simulated projectiles). Implement the designed simulation scenarios within Unity game engine and conduct a series of measurements that will analyze the behavior of the physics simulation. Finally, create a simple game that will make use of the tested scenarios. References [1] Jason Gregory. Game Engine Architecture, 2nd edition. CRC Press, 2014. [2] Ian Millington. Game Physics Engine Development, 2nd edition. CRC Press, 2010. [3] Unity User Manual. Unity Technologies, 2017. Available at https://docs.unity3d.com/Manual/index.html [4] Antonín Šmíd. Comparison of the Unity and Unreal Engines. Bachelor Thesis, CTU FEE, 2017. Ing. Michal Valenta, Ph.D. doc. RNDr. Ing. Marcel Jiřina, Ph.D. Head of Department Dean Prague February 8, 2018 Bachelor’s thesis Physics Simulation Game Engine Benchmark Marek Papinˇc´ak Department of Software Engineering Supervisor: doc. Ing. Jiˇr´ıBittner, Ph.D. May 15, 2018 Acknowledgements I am thankful to Jiri Bittner, an associate professor at the Department of Computer Graphics and Interaction, for sharing his expertise and helping me with this thesis. -
Physics Engine Design and Implementation Physics Engine • a Component of the Game Engine
Physics engine design and implementation Physics Engine • A component of the game engine. • Separates reusable features and specific game logic. • basically software components (physics, graphics, input, network, etc.) • Handles the simulation of the world • physical behavior, collisions, terrain changes, ragdoll and active characters, explosions, object breaking and destruction, liquids and soft bodies, ... Game Physics 2 Physics engine • Example SDKs: – Open Source • Bullet, Open Dynamics Engine (ODE), Tokamak, Newton Game Dynamics, PhysBam, Box2D – Closed source • Havok Physics • Nvidia PhysX PhysX (Mafia II) ODE (Call of Juarez) Havok (Diablo 3) Game Physics 3 Case study: Bullet • Bullet Physics Library is an open source game physics engine. • http://bulletphysics.org • open source under ZLib license. • Provides collision detection, soft body and rigid body solvers. • Used by many movie and game companies in AAA titles on PC, consoles and mobile devices. • A modular extendible C++ design. • Used for the practical assignment. • User manual and numerous demos (e.g. CCD Physics, Collision and SoftBody Demo). Game Physics 4 Features • Bullet Collision Detection can be used on its own as a separate SDK without Bullet Dynamics • Discrete and continuous collision detection. • Swept collision queries. • Generic convex support (using GJK), capsule, cylinder, cone, sphere, box and non-convex triangle meshes. • Support for dynamic deformation of nonconvex triangle meshes. • Multi-physics Library includes: • Rigid-body dynamics including constraint solvers. • Support for constraint limits and motors. • Soft-body support including cloth and rope. Game Physics 5 Design • The main components are organized as follows Soft Body Dynamics Bullet Multi Threaded Extras: Maya Plugin, Rigid Body Dynamics etc. Collision Detection Linear Math, Memory, Containers Game Physics 6 Overview • High level simulation manager: btDiscreteDynamicsWorld or btSoftRigidDynamicsWorld. -
Dynamic Simulation of Manipulation & Assembly Actions
Syddansk Universitet Dynamic Simulation of Manipulation & Assembly Actions Thulesen, Thomas Nicky Publication date: 2016 Document version Peer reviewed version Document license Unspecified Citation for pulished version (APA): Thulesen, T. N. (2016). Dynamic Simulation of Manipulation & Assembly Actions. Syddansk Universitet. Det Tekniske Fakultet. General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal ? Take down policy If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim. Download date: 09. Sep. 2018 Dynamic Simulation of Manipulation & Assembly Actions Thomas Nicky Thulesen The Maersk Mc-Kinney Moller Institute Faculty of Engineering University of Southern Denmark PhD Dissertation Odense, November 2015 c Copyright 2015 by Thomas Nicky Thulesen All rights reserved. The Maersk Mc-Kinney Moller Institute Faculty of Engineering University of Southern Denmark Campusvej 55 5230 Odense M, Denmark Phone +45 6550 3541 www.mmmi.sdu.dk Abstract To grasp and assemble objects is something that is known as a difficult task to do reliably in a robot system. -
Continuous Collision Principle Software Engineer, Blizzard
Erin Catto, @erin_catto Continuous Collision Principle Software Engineer, Blizzard Expert Lego Set Number 952, 315 pieces, 1978 Games are fancy flipbooks Games are just fancy flip books. We draw discrete frames that are snapshots of a moving world. Of course the difference is that in a game, the player can influence what is drawn in each frame. Physics engines usually operate in the same way. The engine executes discrete time steps, usually of a fixed size, that march the simulation forward in time. When we do this, the physics engine can miss events that happen in between frames. Discrete steps lead to missed events Consider a bouncing ball. Discrete time steps are good enough for most of the simulation. However, suppose the discrete time steps skip over the time where the ball hits the floor. How can the ball bounce if it never touches the floor? Well it won't and this is a big problem for physics engines. Solution #1: Ignore the bug Bye! If you ignore the missed collision you can get tunneling. In this case the ball falls out of the world. Many physics engines don’t address this problem and leave it up to the game to fix (or ignore the problem). In some cases this is a reasonable choice. For example, if two pieces of debris pass through each other quickly in a game, you may never notice and it doesn’t effect the outcome of the game. Solution #2: Make the floor thicker You can prevent missed collisions by using more forgiving geometry. In this case I made the floor thicker to catch the ball. -
Physics Engines
Physics Engines Jeff Wilson [email protected] Maribeth Gandy [email protected] Clint Doriot [email protected] CS4455 What is a Physics Engine? • Provides physics simulation in a virtual environment • High Precision vs. Real Time • Real Time requires a lot of approximations • Can be used in creative ways http://www.youtube.com/watch?v=2FMtQuFzjAc CS 4455 Real Time Physic Engines • Havok (commercial), Newton (closed source), Open Dynamics Engine (ODE) (open source), Aegia PhysX (accelerator board available) • Unity o PhysX integration § Rigidbodies § Soft Bodies § Joints § Ragdoll Physics § Cloth § Cars http://docs.unity3d.com/ Documentation/Manual/Physics.html CS 4455 Concepts • Forces • Rigid Bodies o Box, sphere, capsule, character mesh etc. • Constraints • Collision Detection o Can be used by itself with no dynamics CS 4455 Bodies • Rigid • Movable (Dynamic) o Kinematic o Unity’s IsKinematic = false § You are not controlling the velocity & position, Unity is doing that • Unmovable (Static) o Infinite mass • Properties o Mass, dynamic/static friction, restitution (bounciness), softness § Anisotropic friction (skateboard) o Mesh shapes with per triangle materials (terrain) CS 4455 Bodies • Position • Orientation • Velocity • Angular Velocity • These values are a result of forces CS 4455 Collisions • Bounding boxes (collision hulls) reduce complexity of collision calculation o Made from the primitives mentioned before § Boxes, capsules etc. • How your model is encapsulated determines accuracy, and computational requirements -
Systematic Literature Review of Realistic Simulators Applied in Educational Robotics Context
sensors Systematic Review Systematic Literature Review of Realistic Simulators Applied in Educational Robotics Context Caio Camargo 1, José Gonçalves 1,2,3 , Miguel Á. Conde 4,* , Francisco J. Rodríguez-Sedano 4, Paulo Costa 3,5 and Francisco J. García-Peñalvo 6 1 Instituto Politécnico de Bragança, 5300-253 Bragança, Portugal; [email protected] (C.C.); [email protected] (J.G.) 2 CeDRI—Research Centre in Digitalization and Intelligent Robotics, 5300-253 Bragança, Portugal 3 INESC TEC—Institute for Systems and Computer Engineering, 4200-465 Porto, Portugal; [email protected] 4 Robotics Group, Engineering School, University of León, Campus de Vegazana s/n, 24071 León, Spain; [email protected] 5 Universidade do Porto, 4200-465 Porto, Portugal 6 GRIAL Research Group, Computer Science Department, University of Salamanca, 37008 Salamanca, Spain; [email protected] * Correspondence: [email protected] Abstract: This paper presents a systematic literature review (SLR) about realistic simulators that can be applied in an educational robotics context. These simulators must include the simulation of actuators and sensors, the ability to simulate robots and their environment. During this systematic review of the literature, 559 articles were extracted from six different databases using the Population, Intervention, Comparison, Outcomes, Context (PICOC) method. After the selection process, 50 selected articles were included in this review. Several simulators were found and their features were also Citation: Camargo, C.; Gonçalves, J.; analyzed. As a result of this process, four realistic simulators were applied in the review’s referred Conde, M.Á.; Rodríguez-Sedano, F.J.; context for two main reasons. The first reason is that these simulators have high fidelity in the robots’ Costa, P.; García-Peñalvo, F.J.