Geometry Based Rope Knot Tying Simulation

Abstract: Geometry based knot tying simulation of rope was implemented. The rope was modeled as a series of rigid links and FTL (Follow the Leader) algorithm was used for its deformation. Cylinders were drawn as the rigid links and also as detecting units for the rope’s collision detection. The radius of cylinders could be changed to model different ropes. In our collision detection, an improved AABB bounding box algorithm was adopted to accelerate collision detection. The method proposed can process rope’s self collision and collision between rope and other rigid objects. The collision distance parameter was set to implement the equivalent friction. Users could grab a head node of the rope and control it moving by using haptic device. And all the other nodes ’ positions were calculated according to their current ones and neighbors’. Finally the results of the simulation were given and discussed. The model is a real time one and has equivalent physical properties