Strong Coupling Simulation of Incompressible Fluid and Rigid Body using Particle Method with Velocity-based Constraint

Abstract

This paper presents a strong coupling method of impulse-based rigid body simulations and incompressible fluid simulations using particle method, by adopting velocity-based formulation of fluid incompressibility constraint. Conventional coupling simulation of rigid bodies and fluids using particle method are commonly weakly coupled, or using approximations to rigid bodies that are not faithful to rigid body dynamics. Our proposed method however, achieves strong coupling of rigid bodies and incompressible fluids by solving contact constraints and incompressibility constraints simultaneously, without any non-faithful approximation to both rigid body dynamics and fluid dynamics. Computational examples show that the proposed method accurately simulates rigid bodies, fluids, and interactions between rigid bodies and fluids.