Microsoft Technology Licensing, LLC

Janos Benk

Oliver Michael Strunk

Maxwell Simon Abernethy

Nikola Nikolic

Milan Simic

Eoin McLoughlin

Pavle Josipovic

Petar Mitrovic

Rory Mullane

Milos Jovanovic

Michael Alexander Buschbeck

Alexander Sven Fichtner

David Davidovic

Norbert Nemec

Pavle Popovic

A physics engine executed on a processor to simulate real-time rigid body dynamics of a simulated physical system with a minimizing function between initial velocities and intermediate solver velocities is provided. The physics engine may be configured to iteratively loop through a collision detection phase, an iterative solving phase, updating phase, and display phase. The physics engine may be configured to store initial velocities for colliding pairs of bodies. The physics engine may be further configured to determine intermediate solver velocities for the colliding pairs of bodies based on accumulated results of constraint solving for each pair of bodies. The physics engine may be further configured to calculate friction velocities for that colliding pair of bodies based on the stored initial velocities and the intermediate solver velocities using a minimization function, and apply a friction force or impulse based on the calculated friction velocities.

Minimization function for friction solving

A physics engine executed on a processor to simulate rigid body dynamics of a simulated physical system using an inertia scaling function is provided. The physics engine may be configured to iteratively loop through a collision detection phase, an iterative solving phase, updating phase, and display phase. The physics engine may further be configured to determine a neighboring body weighting value for one or more of the plurality of bodies, and determine an inertia scaling value for the one or more of the plurality of bodies based on the neighboring body weighting value for that body. The physics engine may further be configured to scale an inertia value for a body of that colliding pair of bodies based on the inertia scaling value for the iterative solving phase.

Inertia scaling based on neighboring bodies

A computing device is provided, comprising a processor configured to execute a physics engine. The physics engine is configured to, during narrowphase collision detection of a collision detection phase, identify a set of convex polyhedron pairs, each including a first convex polyhedron from a first rigid body and a second convex polyhedron from a second rigid body. The physics engine is further configured to, for each convex polyhedron pair, determine a separating plane. The physics engine is further configured to perform neighbor welding on pair combinations of the convex polyhedron pairs during the narrowphase collision detection to thereby modify the separating planes of at least a subset of the convex polyhedron pairs. The physics engine is further configured to determine collision manifolds for the convex polyhedron pairs, including for the subset of convex polyhedron pairs having the modified separating planes.

Physics engine with collision detection neighbor welding

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Munich, Germany

Janos Benk