Implicit Integration

A Versatile Quaternion-Based Constrained Rigid Body Dynamics

Guirec Maloisel, Ruben Grandia, Christian Schumacher, Espen Knoop, Moritz Bächer

Journal SIGGRAPH 2025 Animation & Simulation

Rigid Body Dynamics Quaternion Kinematic Constraints Implicit Integration Differentiable Simulation Multibody Dynamics Lagrange Multipliers Mechanism Simulation

MPM Lite: Linear Kernels and Integration without Particles

Xiang Feng, Yunuo Chen, Chang Yu, Hao Su, Demetri Terzopoulos, Yin Yang, Joseph Masterjohn, Alejandro M. Castro, Chenfanfu Jiang

Journal SIGGRAPH 2026 Animation & Simulation

MPM Physical Simulation Implicit Integration Elastoplasticity Finite Element Method APIC