Physics Engine Benchmarking in Three-Dimensional Virtual World Simulation
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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, -
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. -
Geometry & Computation for Interactive Simulation
Geometry & Computation for Interactive Simulation Jorg Peters (CISE University of Florida, USA), Dinesh Pai (University of British Columbia), Ulrich Reif (Technische Universitaet Darmstadt) Sep 24 – Sep 29, 2017 1 Overview The workshop advanced the state of the art in geometry and computation for interactive simulation by in- troducing to each other researchers from different branches of academia, research labs and industry. These researchers share the common goal of improving the interface between geometry and computation for physi- cal simulation – but approach it with differing emphasis, techniques and toolkits. A key issue for all partici- pants is to shorten process times and to improve the outcomes of the design-analysis cycle. That is, to more quickly optimize shape, structure and properties to achieve one or multiple design goals. Correspondingly, the challenges laid out covered a wide spectrum from hierarchical design and prediction of novel 3D printed materials, to multi-objective optimization minimizing fuel consumption of commercial airplanes, to creating training scenarios for minimally invasive surgery, to multi-point interactive force feedback for virtually plac- ing an engine into a restricted cavity. These challenges map to challenges in the underlying areas of geometry processing, computational geometry, geometric design, formulation of simulation models, isogeometric and higher-order isoparametric design with splines and meshingless approaches, to real-time computation for interactive surgical force-feedback simulation. The workshop was highly succesful in presenting and con- trasting this rich set of techniques. And it generated recommendations for educating future generation of researchers in geometry and computation for interactive simulation (see outcomes). The lower than usual number of participants (due to a second series of earth quakes just before the meeting) allowed for increased length of individual presentations, so as to discuss topics and ideas at length, and to address basics theory. -
Physics Editor Mac Crack Appl
1 / 2 Physics Editor Mac Crack Appl This is a list of software packages that implement the finite element method for solving partial differential equations. Software, Features, Developer, Version, Released, License, Price, Platform. Agros2D, Multiplatform open source application for the solution of physical ... Yves Renard, Julien Pommier, 5.0, 2015-07, LGPL, Free, Unix, Mac OS X, .... For those who prefer to run Origin as an application on your Mac desktop without a reboot of the Mac OS, we suggest the following virtualization software:.. While having the same core (Unigine Engine), there are 3 SDK editions for ... Turnkey interactive 3D app development; Consulting; Software development; 3D .... Top Design Engineering Software: The 50 Best Design Tools and Apps for ... design with the intelligence of 3D direct modeling,” for Windows, Linux, and Mac users. ... COMSOL is a platform for physics-based modeling and simulation that serves as ... and tools for electrical, mechanical, fluid flow, and chemical applications .... Experience the world's most realistic and professional digital art & painting software for Mac and Windows, featuring ... Your original serial number will be required. ... Easy-access panels let you instantly adjust how paint is applied to the brush and how the paint ... 4 physical cores/8 logical cores or higher (recommended).. A dynamic soft-body physics vehicle simulator capable of doing just about anything. ... Popular user-defined tags for this product: Simulation .... Easy-to-Use, Powerful Tools for 3D Animation, GPU Rendering, VFX and Motion Design. ... Trapcode Suite 16 With New Physics, Magic Bullet Suite 14 With New Color Workflows Now ... Maxon Cinema 4D Immediately Available for M1-Powered Macs image .. -
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. -
Locotest: Deploying and Evaluating Physics-Based Locomotion on Multiple Simulation Platforms
LocoTest: Deploying and Evaluating Physics-based Locomotion on Multiple Simulation Platforms Stevie Giovanni and KangKang Yin National University of Singapore fstevie,[email protected] Abstract. In the pursuit of pushing active character control into games, we have deployed a generalized physics-based locomotion control scheme to multiple simulation platforms, including ODE, PhysX, Bullet, and Vortex. We first overview the main characteristics of these physics engines. Then we illustrate the major steps of integrating active character controllers with physics SDKs, together with necessary implementation details. We also evaluate and compare the performance of the locomotion control on different simulation platforms. Note that our work only represents an initial attempt at doing such evaluation, and additional refine- ment of the methodology and results can still be expected. We release our code online to encourage more follow-up works, as well as more interactions between the research community and the game development community. Keywords: physics-based animation, simulation, locomotion, motion control 1 Introduction Developing biped locomotion controllers has been a long-time research interest in the Robotics community [3]. In the Computer Animation community, Hodgins and her col- leagues [12, 7] started the many efforts on locomotion control of simulated characters. Among these efforts, the simplest class of locomotion control methods employs re- altime feedback laws for robust balance recovery [12, 7, 14, 9, 4]. Optimization-based control methods, on the other hand, are more mathematically involved, but can incor- porate more motion objectives automatically [10, 8]. Recently, data-driven approaches have become quite common, where motion capture trajectories are referenced to further improve the naturalness of simulated motions [14, 10, 9]. -
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. -
On the Use of Simulation in Robotics
PERSPECTIVE On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward PERSPECTIVE HeeSun Choia, Cindy Crumpb, Christian Duriezc, Asher Elmquistd, Gregory Hagere, David Hanf,1, Frank Hearlg, Jessica Hodginsh, Abhinandan Jaini, Frederick Levej, Chen Lik, Franziska Meierl, Dan Negrutd,2, Ludovic Righettim,n, Alberto Rodriguezo, Jie Tanp, and Jeff Trinkleq Edited by Nabil Simaan, Vanderbilt University, Nashville, TN, and accepted by Editorial Board Member John A. Rogers September 30, 2020 (received for review November 16, 2019) The last five years marked a surge in interest for and use of smart robots, which operate in dynamic and unstructured environments and might interact with humans. We posit that well-validated computer simulation can provide a virtual proving ground that in many cases is instrumental in understanding safely, faster, at lower costs, and more thoroughly how the robots of the future should be designed and controlled for safe operation and improved performance. Against this backdrop, we discuss how simulation can help in robotics, barriers that currently prevent its broad adoption, and potential steps that can eliminate some of these barriers. The points and recommendations made concern the following simulation-in-robotics aspects: simulation of the dynamics of the robot; simulation of the virtual world; simulation of the sensing of this virtual world; simulation of the interaction between the human and the robot; and, in less depth, simulation of the communication between robots. This Perspectives contribution summarizes the points of view that coalesced during a 2018 National Science Foundation/Department of Defense/National Institute for Standards and Technology workshop dedicated to the topic at hand. -
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. -
Chapter 9 Animation System
Chapter 10 Collision and Rigid Body Dynamics asyrani.com 10.1 Do You Want Physics in Your Game? Things You Can Do with a Physics System A LOT Is Physics Fun? Simulations (Sims) Gran Turismo Flight Simulator Need For Speed Physics Puzzle Games Bridge Builder Fantastic Contraption Crayon Physics The Incredible Machine Sandbox Games LittleBigPlanet GTA 5 Spore Goal-Based and Story-Driven Games A goal-based game has rules and specific objectives that the player must accomplish in order to progress; in a story-driven game , telling a story is of paramount importance. Integrating a physics system into these kinds of games can be tricky. We generally give away control in exchange for a realistic simulation, and this loss of control can inhibit the player’s ability to accomplish goals or the game’s ability to tell the story. Impact of Physics on a Game Predictability Tuning and control Emergent behaviors Engineering Impacts Collision Tools pipeline User interface detection Animation Rag doll AI and character physics motion Networking Record and Graphics and playback multiplayer Art Impacts Additional tool More-complex and workflow content complexity Loss of control Other Impacts Interdisciplinary impacts. The introduction of a dynamics simulation into your game requires close cooperation between engineering, art, and design. Production impacts. Physics can add to a project’s development costs, technical and organizational complexity, and risk. 10.2 Collision/Physics Middleware I-Collide SWIFT V-Collide RAPID ODE ODE stands for “Open Dynamics Engine ” (http://www.ode.org). As its name implies, ODE is an open-source collision and rigid body dynamics SDK. -
Digital Control Networks for Virtual Creatures
Digital control networks for virtual creatures Christopher James Bainbridge Doctor of Philosophy School of Informatics University of Edinburgh 2010 Abstract Robot control systems evolved with genetic algorithms traditionally take the form of floating-point neural network models. This thesis proposes that digital control sys- tems, such as quantised neural networks and logical networks, may also be used for the task of robot control. The inspiration for this is the observation that the dynamics of discrete networks may contain cyclic attractors which generate rhythmic behaviour, and that rhythmic behaviour underlies the central pattern generators which drive low- level motor activity in the biological world. To investigate this a series of experiments were carried out in a simulated physically realistic 3D world. The performance of evolved controllers was evaluated on two well known control tasks — pole balancing, and locomotion of evolved morphologies. The performance of evolved digital controllers was compared to evolved floating-point neu- ral networks. The results show that the digital implementations are competitive with floating-point designs on both of the benchmark problems. In addition, the first re- ported evolution from scratch of a biped walker is presented, demonstrating that when all parameters are left open to evolutionary optimisation complex behaviour can result from simple components. iii Acknowledgements “I know why you’re here... I know what you’ve been doing... why you hardly sleep, why you live alone, and why night after night, you sit by your computer.” I would like to thank my parents and grandmother for all of their support over the years, and for giving me the freedom to pursue my interests from an early age.