Anka He Chen

Anka He Chen

Research Scientist at NVIDIA. PhD in Computing from University of Utah. Specializing in physics-based simulation and computer graphics.

Posts by Tags

SIGGRAPH

Rigid Body Dynamics with VBD, Section I: Free Bodies

15 minute read

Published:

In the VBD paper (SIGGRAPH 2024), we briefly discuss extending Vertex Block Descent to rigid body simulation. The idea is natural: instead of updating a single vertex with 3 DoF, you update an entire rigid body with 6 DoF. But the details matter. This post walks through the full derivation—from the continuous Newton-Euler equations, to discrete backward Euler as a nonlinear system, to the Schur complement solve you actually run each iteration—with reference code from Newton, which implements this approach under the name AVBD (Augmented VBD).

Implementing VBD Damping Properly

5 minute read

Published:

Vertex Block Descent (VBD) is a physics solver we published at SIGGRAPH 2024 for elastic body dynamics. It offers unconditional stability, excellent GPU parallelism, and fast convergence to implicit Euler solutions. While the paper covers the formulation comprehensively, actually implementing VBD correctly—especially the damping—turns out to be subtler than it first appears. This post discusses the key pitfalls and how to get them right, based on lessons learned during development with NVIDIA Warp.

VBD

Rigid Body Dynamics with VBD, Section I: Free Bodies

15 minute read

Published:

In the VBD paper (SIGGRAPH 2024), we briefly discuss extending Vertex Block Descent to rigid body simulation. The idea is natural: instead of updating a single vertex with 3 DoF, you update an entire rigid body with 6 DoF. But the details matter. This post walks through the full derivation—from the continuous Newton-Euler equations, to discrete backward Euler as a nonlinear system, to the Schur complement solve you actually run each iteration—with reference code from Newton, which implements this approach under the name AVBD (Augmented VBD).

Implementing VBD Damping Properly

5 minute read

Published:

Vertex Block Descent (VBD) is a physics solver we published at SIGGRAPH 2024 for elastic body dynamics. It offers unconditional stability, excellent GPU parallelism, and fast convergence to implicit Euler solutions. While the paper covers the formulation comprehensively, actually implementing VBD correctly—especially the damping—turns out to be subtler than it first appears. This post discusses the key pitfalls and how to get them right, based on lessons learned during development with NVIDIA Warp.

computer-graphics

Rigid Body Dynamics with VBD, Section I: Free Bodies

15 minute read

Published:

In the VBD paper (SIGGRAPH 2024), we briefly discuss extending Vertex Block Descent to rigid body simulation. The idea is natural: instead of updating a single vertex with 3 DoF, you update an entire rigid body with 6 DoF. But the details matter. This post walks through the full derivation—from the continuous Newton-Euler equations, to discrete backward Euler as a nonlinear system, to the Schur complement solve you actually run each iteration—with reference code from Newton, which implements this approach under the name AVBD (Augmented VBD).

Implementing VBD Damping Properly

5 minute read

Published:

Vertex Block Descent (VBD) is a physics solver we published at SIGGRAPH 2024 for elastic body dynamics. It offers unconditional stability, excellent GPU parallelism, and fast convergence to implicit Euler solutions. While the paper covers the formulation comprehensively, actually implementing VBD correctly—especially the damping—turns out to be subtler than it first appears. This post discusses the key pitfalls and how to get them right, based on lessons learned during development with NVIDIA Warp.

physics-simulation

Rigid Body Dynamics with VBD, Section I: Free Bodies

15 minute read

Published:

In the VBD paper (SIGGRAPH 2024), we briefly discuss extending Vertex Block Descent to rigid body simulation. The idea is natural: instead of updating a single vertex with 3 DoF, you update an entire rigid body with 6 DoF. But the details matter. This post walks through the full derivation—from the continuous Newton-Euler equations, to discrete backward Euler as a nonlinear system, to the Schur complement solve you actually run each iteration—with reference code from Newton, which implements this approach under the name AVBD (Augmented VBD).

Implementing VBD Damping Properly

5 minute read

Published:

Vertex Block Descent (VBD) is a physics solver we published at SIGGRAPH 2024 for elastic body dynamics. It offers unconditional stability, excellent GPU parallelism, and fast convergence to implicit Euler solutions. While the paper covers the formulation comprehensively, actually implementing VBD correctly—especially the damping—turns out to be subtler than it first appears. This post discusses the key pitfalls and how to get them right, based on lessons learned during development with NVIDIA Warp.

rigid-body

Rigid Body Dynamics with VBD, Section I: Free Bodies

15 minute read

Published:

In the VBD paper (SIGGRAPH 2024), we briefly discuss extending Vertex Block Descent to rigid body simulation. The idea is natural: instead of updating a single vertex with 3 DoF, you update an entire rigid body with 6 DoF. But the details matter. This post walks through the full derivation—from the continuous Newton-Euler equations, to discrete backward Euler as a nonlinear system, to the Schur complement solve you actually run each iteration—with reference code from Newton, which implements this approach under the name AVBD (Augmented VBD).

welcome

Welcome to My Blog

less than 1 minute read

Published:

Welcome to my blog! I’ll be sharing updates about my research and projects here.