timewarp

timewarp - Timewarp Rigid Body Simulation Brian Mirtich...

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Timewarp Rigid Body Simulation Brian Mirtich
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Simulation Discontinuities “Events that change the dynamic states or the equations of motion of some subset of the bodies” Ex. “collisions, new contacts, transitions between rolling and sliding, and control law changes”
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Retroactive Detection If an event occurs then backtrack to the moment of the event and then process All bodies must be backed up to the time The event might have affected their motion There is no framework for maintaining bodies at different times.
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Conservative Advancement Don’t integrate over a discontinuity Lower bounds are maintained by a priority queue Creeps up to a discontinuity
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The Timewarp Algorithm Avoids unnecessary synchronization Comes from discrete event simulation(DES) Enables the simulation to be run in parallel
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Timewarp Continued Each processor maintains part of the model Each processor keeps a “Local Virtual Time” Each processor advances its local time until an event occurs Events are processed through messages
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This note was uploaded on 01/23/2012 for the course CS 551 taught by Professor Staff during the Fall '10 term at Syracuse.

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timewarp - Timewarp Rigid Body Simulation Brian Mirtich...

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