July 2011: dVC3d version 1.1 released! New interface to make it works better with newer Bullet versions. A new, open sourced solver is under development. Stay tuned!
Feb 2010: I'm working on a new version of dVC3d with new opensource solvers.
September 15,2010: Submit a video contribution to ICRA 2011.
August 02,2010: Some experiments in dVC3d. Stay tuned for major updates on the way.
March 02,2010: dVC3d 1.0 released.
Feb 08,2010: dvcRender (dvc3d Matlab interface) is up : here
Jan 25,2010: The page is up.
dVC3d is a physical simulation engine that focuses on accurate robotics application and testing of different cutting edge theories in physical simulation. Theoretically, it inherits the basic framework from dvc2D . Beside moving completely to 3D, dVC3d also integrates research works developed recently by our group.
dVC3d can be used as the main physics engine inside Blender 3D. The short (3 minutes) movie below may give you an idea what it looks like.
This demo shows a hand with 2 fingers grasps a box. The simulation ran in real time on my 2 year old laptop.
You can download dVC3d 1.1 source code with Visual Studio 2010 solution here.
An old demo of dVC3d 1.0 binary can be download here.
dVC3d is an ongoing effort of our lab. Our plans for the next release include:
A new open sourced solver to replace PATH.
A new contact model that can handle vertex-list of edges case.
Integration with Blender 3D (Partial support for now)
B. Nguyen, and J.C. Trinkle. dVC3d: a three dimensional physical simulation tool for rigid bodies with contacts and Coulomb friction . The 1st Joint International Conference on Multibody System Dynamics, 2010. to appear
S. Berard, B. Nguyen, K. Anderson, and J.C. Trinkle. Sources of Error in a Rigid Body Simulation of Rigid Parts on a Vibrating Rigid Plate. ASME Journal of Computational and Nonlinear Dynamics, 2010.
Binh Nguyen, J.C. Trinkle. Modeling non-convex configuration space using linear complementarity problems. IEEE International Conference on Robotics and Automation (ICRA), 2010. to appear
S. Berard, B. Nguyen, and J.C. Trinkle. Sources of Error in a Rigid Body Simulation of Rigid Parts on a Vibrating Rigid Plate. ACM Symposium on Applied Computing,2009.
S. Berard, B. Nguyen, K. Anderson, and J.C. Trinkle. Sources of error in a simulation of rigid parts on a vibrating rigid plate. Technical Report 08-10, Department of Computer Science, Rensselaer Polytechnic Institute.
References from dVC2d
M. Anitescu and F. Potra, “Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems,” Nonlinear Dynamics, vol. 14, no. 3, pp. 231-247, 1997.
D. Stewart and J. Trinkle, “An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction,” Int'l Jrnl. of Numerical Methods in Engineering, vol. 39, pp. 2673-2691, 1996.
P. Song, J.-S. Pang, and V. Kumar, “A semi-implicit time-stepping model for frictional compliant contact problems,” Int'l Jrnl. for Numerical Methods in Engineering, vol. 60, pp. 2231-2261, 2004.
Stephen Berard, Jeff Trinkle, Binh Nguyen, Benjamin Roghani, Vijay Kumar, and Jonathan Fink. daVinci code: A multi-model simulation and analysis tool for multi-body systems. IEEE International Conference on Robotics and Automation, pages 2588-2593, April 2007.