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Advancements in MATLAB Simulator: Geometry Loading and Iterative Solvers

This presentation outlines the current advancements in our MATLAB simulator, which now includes a robust OpenGL graphics engine and the capability to load OBJ files for geometry. We've achieved 80% completion on a simple physics framework and are preparing for iterative solvers, as discussed in Mihai's recent paper. Current tools include the open-source OOOP and a trial version of the commercial MOSEK. Upcoming tasks involve refining the simulator, exploring iterative solvers on Stewart Trunk, and preparing a SIGGRAPH paper on polygonal collision detection.

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Advancements in MATLAB Simulator: Geometry Loading and Iterative Solvers

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  1. Current works • Finishing Matlab simulator • OpenGL Graphics: done • Geometry file: can load OBJ file (see later slide) • Simple physics framework: 80% • Stewart Trinkle: Done with w/o collision detection

  2. Current works • Preparing for iterative solvers by running all quadratic solvers mention in new Mihai’ s paper: • OOOP (Opensourced): requested and downloaded • MOSEK(commercial): got trial version • CLHMOD: built in Matlab and c++ code ready • Others: not yet

  3. What next? • Finish Matlab simulator • Start trying iterative solver on ST with available solver • Look out for SIGGRAPH paper

  4. Obj file • A box: v 0.000000 2.000000 2.000000 v 0.000000 0.000000 2.000000 v 2.000000 0.000000 2.000000 v 2.000000 2.000000 2.000000 ; List of 8 vertices v 0.000000 2.000000 0.000000 v 0.000000 0.000000 0.000000 v 2.000000 0.000000 0.000000 v 2.000000 2.000000 0.000000 f 1 2 3 4 f 8 7 6 5 f 4 3 7 8 f 5 1 4 8 ; List of faces: important to note that a face = polygon not triangle. It’s crucial f 5 6 2 1 ; to have polygonal collision detection. f 2 6 7 3

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