Mixing deformable and rigid-body mechanics simulation

This article presents a new method to achieve. heterogeneous physical simulation, within the same global system, of both deformable and rigid-bodies objects, whatever their intrinsic nature. The proposed approach combines several mechanical formalisms in the same system and offers a common constraint management via Lagrange multipliers. This allows the simulation of a wide variety of models, including deformable and rigid parts linked by constraints. Some applications of this approach are presented to show its effectiveness.