CS839 Topics in Computing : PhysicsBased 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:
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 thirdparty 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 
Lecture Notes [PDF] 
Friday, September 6th 
Solid geometry representations. Dynamic Meshes. Pixar USD 
Lecture Notes [PDF] 
Monday, September 9th 
The Pixar USD CLanguage API and data format 

Wednesday, September 11th 
Introduction To Time Integration. Finite Element Methods Part 1 

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 selfcollision 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 
