This thesis examines the design and implementation of an extensible objectoriented physics engine framework. The design and implementation consolidates concepts from the wide literature in the field and clearly documents the procedures and methods. Two primary dynamic behaviors are explored: rigid body dynamics and articulated dynamics. A generalized collision response model is built for rigid bodies and articulated structures which can be adapted to other types of behaviors. The framework is designed around the use of interfaces for modularity and easy extensibility. It supports both a standalone physics engine and a supplement to a distributed immersive rendering environment. We present our results as a number of scenarios that demonstrate the viability of the framework. These scenarios include rigid bodies and articulated structures in free-fall, collision with dynamic and static bodies, resting contact, and friction. We show that we can effectively combine different dynamics into one cohesive structure. We also explain how we can efficiently extend current behaviors to develop new ones, such as altering rigid bodies to produce different collision responses or flocking behavior. Additionally, we demonstrate these scenarios in both the standalone and the immersive environment.

This thesis examines the design and implementation of an extensible objectoriented physics engine framework. The design and implementation consolidates concepts from the wide literature in the field and clearly documents the procedures and methods. Two primary dynamic behaviors are explored: rigid body dynamics and articulated dynamics. A generalized collision response model is built for rigid bodies and articulated structures which can be adapted to other types of behaviors. The framework is designed around the use of interfaces for modularity and easy extensibility. It supports both a standalone physics engine and a supplement to a distributed immersive rendering environment. We present our results as a number of scenarios that demonstrate the viability of the framework. These scenarios include rigid bodies and articulated structures in free-fall, collision with dynamic and static bodies, resting contact, and friction. We show that we can effectively combine different dynamics into one cohesive structure. We also explain how we can efficiently extend current behaviors to develop new ones, such as altering rigid bodies to produce different collision responses or flocking behavior. Additionally, we demonstrate these scenarios in both the standalone and the immersive environment.

This dissertation describes several techniques to improve performance and controllability of large-scale rigid body simulations. We first describe a statistical simulation method that replaces certain stages of rigid body simulation with a statistically- based approximation. We begin by collecting statistical data regarding changes in linear and angular momentum for collisions of a given object. From the data, we extract a statistical ”signature” for the object, giving a compact representation of the object’s response to collision events. During object simulation, both the collision detection and the collision response calculations are replaced by simpler calculations based on the statistical signature. In addition, based on our statistical simulator, we develop a mixed rigid body simulator that combines an impulse-based with a statistically-based collision response method. This allows us to maintain high accuracy in important parts of the scene while achieving greater efficiency by simplifying less important parts of the simulation. The resulting system gives speedups of more than an order of magnitude on several large rigid body simulations while maintaining high accuracy in key places and capturing overall statistical behavior in other places. Also, we introduce two methods for directing pile behavior to form the desired shapes. To fill up the space inside the desired shapes and maintain the stability of the desired pile shapes, our methods analyze the configurations and status of all objects and properly select some candidates to have their degrees of freedom (DOFs) reduced. Our first method utilizes the idea of angles of repose to perform the analysis. According to the desired angle of repose, we create an additional spatial structure to track the piling status and select suitable objects to reduce their DOFs. In our second method, we adapt equilibrium analysis in a local scheme to find “stable” objects of the stacking structure. Then, we restrict their DOFs by adding constraints on them for stabilizing the structure. Overall, our directing methods generate a wider variety of piled structures than possible with strict physically-based simulation.

This research provides realistic techniques to visualize the process of damage to residential building caused by hurricane force winds. Three methods are implemented to make the visualization useful for educating the public about mitigation measures for their homes. First, the underline physics uses Quick Collision Response Calculation. This is an iterative method, which can tune the accuracy and the performance to calculate collision response between building components. Secondly, the damage process is designed as a Time-scalable Process. By attaching a damage time tag for each building component, the visualization process is treated as a geometry animation allowing users to navigate in the visualization. The detached building components move in response to the wind force that is calculated using qualitative rather than quantitative techniques. The results are acceptable for instructional systems but not for engineering analysis. Quick Damage Prediction is achieved by using a database query instead of using a Monte-Carlo simulation. The database is based on HAZUS® engineering analysis data which gives it validity. A reasoning mechanism based on the definition of the overall building damage in HAZUS® is used to determine the damage state of selected building components including roof cover, roof sheathing, wall, openings and roof-wall connections. Exposure settings of environmental aspects of the simulated environment, such as ocean, trees, cloud and rain are integrated into a scene-graph based graphics engine. Based on the graphics engine and the physics engine, a procedural modeling method is used to efficiently render residential buildings. The resulting program, Hurricane!, is an instructional program for public education useful in schools and museum exhibits.

<p>The purpose of this report is to cover the procedure of creating and explaining how to use a tool kit that allows the haptic Application Programming Interface (API) H3D from SenseGraphics to be used in conjunction with an advanced physics simulator from Meqon. Both haptic applications and physics engines have developed rapidly the last couple of years but they are rarely used together. If such a connection would be created it would be possible to interact with complex environments in a new way and a variety of haptic applications can be produced.</p><p>The physics engine from Meqon has gained recognition for its abilities to produce realistic results due to efficient implementation of collision detection system, friction models and collision handling, among other things. H3D is a completely open source API that is based on standards such as OpenGL and X3D. H3D consists of a data base containing nodes, an XML parser to extract a scene graph from the data base and functionality to produce a graphic and haptic interface.</p><p>The tool kit produced in this thesis is an extension to H3D. A fundamental function of the tool kit is to communicate with the Meqon system and still be a part of the H3D structure. The Meqon system has a modular structure where each module has its own abilities. Only the rigid body module is utilised by the tool kit, which however is the most important module. It is possible to define global settings of the engine and rigid body module, add rigid bodies with several elements and insert constraints on the motion of the rigid bodies into the engine. All of these operations are done from the X3D file format that H3D uses, thus letting all functionality of the H3D system available.</p>

The purpose of this report is to cover the procedure of creating and explaining how to use a tool kit that allows the haptic Application Programming Interface (API) H3D from SenseGraphics to be used in conjunction with an advanced physics simulator from Meqon. Both haptic applications and physics engines have developed rapidly the last couple of years but they are rarely used together. If such a connection would be created it would be possible to interact with complex environments in a new way and a variety of haptic applications can be produced. The physics engine from Meqon has gained recognition for its abilities to produce realistic results due to efficient implementation of collision detection system, friction models and collision handling, among other things. H3D is a completely open source API that is based on standards such as OpenGL and X3D. H3D consists of a data base containing nodes, an XML parser to extract a scene graph from the data base and functionality to produce a graphic and haptic interface. The tool kit produced in this thesis is an extension to H3D. A fundamental function of the tool kit is to communicate with the Meqon system and still be a part of the H3D structure. The Meqon system has a modular structure where each module has its own abilities. Only the rigid body module is utilised by the tool kit, which however is the most important module. It is possible to define global settings of the engine and rigid body module, add rigid bodies with several elements and insert constraints on the motion of the rigid bodies into the engine. All of these operations are done from the X3D file format that H3D uses, thus letting all functionality of the H3D system available.

The following report contains an evaluation of the use of mathematical simulation programs at the company Isaberg Rapid AB. The work includes booth FE and motion simulations where the results are compared with real life test data. The goal of the report is to evaluate the accuracy of simulations which can be performed by engineers as a part of the design process. By using mathematical simulation tools it is possible to find a good design solution early in the development phase and thereby shorten lead time and reduce costs.

<p>The following report contains an evaluation of the use of mathematical simulation programs at the company Isaberg Rapid AB. The work includes booth FE and motion simulations where the results are compared with real life test data.</p><p>The goal of the report is to evaluate the accuracy of simulations which can be performed by engineers as a part of the design process. By using mathematical simulation tools it is possible to find a good design solution early in the development phase and thereby shorten lead time and reduce costs.</p>

Master's Thesis is about the techniques of creating a small executable program with size limited to 64kB. Describes one of the possible ways to use OpenGL for such purposes. With more detail describe the rigid body simulation, creating shaders, dynamic generating of texture and make music in intro scene applications. Presents using of WinApi to create windows, V2 synthetizer for sound and GLSL language for creating shaders. Everything is demonstratively created under Windows.