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CS839 Topics in Computing : Physics-Based Modeling and Simulation

Fall Semester 2019

Course outline

This course is a review of current trends and technologies for physics based modeling and simulation, with applications to visual effects, interactive virtual environments and computer games. Topics to be covered in class include:

2D elasticity : Cloth simulation, modeling of in-plane and bending stiffness, collision handling.
3D elasticity : Finite element and mass-spring models, simulated character flesh, skin and muscles. Modeling of material fracture and tearing.
Discrete 3D geometry representations : Meshes, implicit surfaces and point clouds. Geometry editing and conversion between representations.
Time integration methods : Explicit and implicit Euler integrators, semi-implicit methods, quasi-static animation.
Introductory fluid dynamics : Computer-generated smoke, water and fire.
Rigid body simulation and dynamics of articulated systems.
Data structures for dynamic digital content: Pixar USD, OpenVDB.

In discussing these topics, particular emphasis will be placed on the efficiency, robustness and stability of numerical algorithms used in simulation tasks, and on the software engineering practices that facilitate scalability and parallelization. Lectures will straddle the following three threads of emphasis: Theory discussion will cover the mathematical foundations of modeling and simulation techniques. Implementation aspects will include software engineering and parallel programming considerations. The discussion of Tools will address third-party APIs and data structures that facilitate development of simulation and visualization codes.

General information

Lecture meeting time : Mon/Wed/Fri 4:00pm - 5:15pm (on average, twice a week; exact schedule to be posted by start of instruction)
Lecture location : Computer Sciences 1257

Instructor : Eftychios Sifakis
Office : Computer Sciences building, Room 6387
Email : sifakis <at> cs <dot> wisc <dot> edu
Office hours : Mon/Wed/Fri 1:30pm - 2:15pm on days that class meets or by appointment

Prerequisites : No formal requirements. Nevertheless, a number of numerical techniques will be employed in the context of various topics; the theoretical details of these methods will be summarily covered in class. A certain degree of familiarity with calculus will be desired, although not essential. Competency in linear algebra is desired.

Schedule of lectures

DATE	Lecture Information	Assignments & Reading Materials
Wednesday, September 4th	Introduction to Physics Based Modeling Discussion of course structure and logistics	Lecture Notes [PDF]
Friday, September 6th	Solid geometry representations. Dynamic Meshes. Pixar USD	Lecture Notes [PDF]
Monday, September 9th	The Pixar USD C-Language API and data format
Wednesday, September 11th	Introduction To Time Integration. Finite Element Methods Part 1	Lecture Notes [PDF][PDF]
Friday, September 13th	NO CLASS OR OFFICE HOURS
Monday, September 16th	Finite Element Methods: Part 2
Wednesday, September 18th	Implementation of Finite Element Methods.
Friday, September 20th	Implementation of Finite Element Methods (con't). Stability	Lecture Notes [PDF]
Monday, September 23rd	Implicit and Quasistatic Methods: Part 1	Lecture Notes [PDF]
Wednesday, September 25th	Implicit and Quasistatic Methods: Part 2
Friday, September 27th	NO CLASS OR OFFICE HOURS
Monday, September 30th	Practical Implementation of Backward Euler - Conjugate Gradients	Lecture Notes [PDF]
Wednesday, October 2nd	Nonlinear elasticity, Part I. Robust handling of inversion	Lecture Notes [PDF]
Friday, October 4th	Nonlinear elasticity, Part I. Robust handling of inversion	Lecture Notes [PDF]
Monday, October 7th	Nonlinear elasticity, Part I. Force differentials.	Lecture Notes [PDF]
Wednesday, October 9th	Nonlinear elasticity, Part II. Definiteness Correction	Lecture Notes [PDF]
Friday, October 11th	Nonlinear elasticity, Part III. Implementation considerations	Lecture Notes [PDF]
Monday, October 14th	NO CLASS OR OFFICE HOURS
Wednesday, October 16th	Interactive simulation of elastic materials	Shape Matching [PDF] FastLSM [URL] Projective Dynamics [URL]
Friday, October 18th	Introduction to cloth simulation and collision processing.	Lecture Notes [PDF]
Monday, October 21st	NO CLASS OR OFFICE HOURS
Wednesday, October 23rd	Collison detection and response with kinematic objects, using levelsets and penalty forces.	Lecture Notes [PDF]
Friday, October 25th	Introduction to self-collision processing.	Lecture Notes [PDF]
Monday, October 28th	Overview of other simulation topics for elastic media (Part I)	Lecture Notes [PDF]
Wednesday, October 30th	Overview of other simulation topics for elastic media (Part II)	Lecture Notes [PDF]
Friday, November 1st	Introduction to simulation of fluids (Part I; Governing Equations)	Robert Bridson's SIGGRAPH Course Notess [URL]
Monday, November 4th	NO CLASS OR OFFICE HOURS
Wednesday November 6th	Introduction to simulation of fluids (Part II; Discretization and solution)	Robert Bridson's SIGGRAPH Course Notess [URL]
Friday, November 8th	Paper Presentations by Students (Theme: MPM)
Monday, November 11th	Seminar by Guest Lecturer (Yuanming Hu, MIT/CSAIL)	Location : Computer Sciences 1240
Wednesday, November 13th	Paper Presentations by Students
Friday, November 15th	NO CLASS OR OFFICE HOURS
Monday, November 18th	Fast solvers for incompressible fluids (PCG and MultiGrid)	Lecture Notes [PDF]
Wednesday, November 20th	Fast Fluids solvers (con't). Project Logistics.	Lecture Notes [PDF]
Friday, November 22nd	Paper presentations by students