Swimming creatures in NVIDIA FleX

Razvili smo realno časovno simulacijo različnih plavajočih bitij v tekočini z uporabo ogrodja za fizikalno osnovano simulacijo Nvidia Flex, ki temelji na metodah pozicijske dinamike (angl. position based dynamics) in pozicijskih tekočin (angl. position based fluids). Predstavimo model telesa bitja, ki je sestavljeno iz delcev. Ti so združeni v trdne člene, ki so s pomočjo mišic gibljivi v zglobih med njimi. Z genetskim algoritmom optimiziramo delovanje mišic, da bitje čim bolj učinkovito plava naravnost v simulirani tekočini. Podamo štiri različna telesa bitij, katerim z razvitim sistemom avtomatično generiramo gibanje. Pokažemo, da je plavanje v tako simulirani tekočini mogoče, a počasno in ne ustvarja realistične turbulence. Razvito gibanje primerjamo z načini plavanja resničnih rib, in sicer anguilliform, carangiform in thunniform. Ujemanje z njimi je različno za podana telesa bitij.We develop a real time simulation of varied swimming creatures in a fluid using Nvidia Flex for physically based simulation. Nvidia Flex uses position based dynamics and position based fluids to achieve real time performance. We model creatures\u27 bodies as solid clusters of particles that are connected with joints and animated using muscles. A genetic algorithm is used to optimise muscle function in order to allow the creature as efficient forward swimming gait as possible. We present four different bodies and use our system to automatically generate their movement. We show that swimming in such a fluid is possible, albeit slow and it does not result in realistic turbulence. The evolved gaits are compared with those of real fish, namely anguilliform, carangiform and thunniform. The fit is different for different bodies