A Robust Method for Real-Time Thread Simulation

In this paper, we present a physically based model for real-time simulation of thread dynamics. Our model captures all the relevant aspects of the physics of the thread, including quasi-zero elasticity, bending, torsion and self-collision, and it provides output forces for the haptic feedback. The physical properties tire modeled in terms of constraints that are iteratively satisfied while the numerical integration is carried out through a Verlet scheme. This approach leads to an unconditionally stable, controllable and computationally light simulation [Muller et al. 2007]. Our results demonstrate the effectiveness of our model, showing the interaction of the thread with other objects in real time and the creation of complex knots.