Rigid Body Simulation*

*Author of this lecture: Wenxin Du, University of California, Los Angeles

To extend the IPC method to rigid body contact, we can employ subspace methods to effectively reduce the system's degrees of freedom (DOFs). Since a rigid body serves as an idealized model for extremely stiff real-world objects with negligible deformation, it does not require a large number of DOFs. This observation motivates the Affine Body Dynamics (ABD) [Lan et al. 2022] method. Depending on the choice of subspace, this approach can also be adapted into various algorithms suitable for different categories of soft bodies.