Research on GPU-accelerated High Quality Physically-based Simulation (Supported by Natural Science Foundation of China, No. 6157050519)

High-quality physically-based simulation is a key problem for virtual reality, haptics, robotics, and mechanic/medical simulations. This project focuses on the research of GPU-accelerated high-quality physically-based simulation algorithms. Main contents include: 1. To design a parallel algorithm for dynamic assembling of sparse linear systems. It can accelerate parallel implicit time integration on simulation scenarios containing deformable objects with changing topologies. 2. To design a geometric exact continuous collision detection algorithm. It is capable of overcoming the rounding-errors of floating-point operations and guarantees to detect all the penetrations in complicated physically-based simulation scenarios. 3. To design a collision trajectory-based continuous penalty force formulation. It is capable of overcoming the intrinsic drawbacks for traditional discrete penalty forces, and improves the accuracy of collision handling in physically-based simulations. 4. To design a streaming mapping algorithm for all the key components of physically-based simulation. It enables the whole process of physically-based simulation be fully integrated and executed in parallel on GPUs. We expect to improve the robustness and accuracy of physically-based simulations, and achieve 10x speedups on the overall performance. Improving accuracy and efficiency are always the key problems in the field of physically-based simulation. This project will open a new avenue for improving the quality and efficiency of physically-based simulation algorithms, and provides strong support for utilizing physically-based simulation algorithms in various applications.