Rigid Body Sampling and Individual Time Stepping for Rigid-Fluid Coupling of Fluid Simulation

Algorithm 3

Individual time stepping for rigid-fluid coupling.

(1) while animating do

(2)   select active

(3)   for each active fluid particle do

(4)     find fluid and boundary neighbors

(5)   for each fluid particle do

(6)     if active then

(7)      compute ,

(8)     else

(9)      interpolate , using

(10)  for each active fluid particle do

(11)    compute

(12)    compute

(13)    compute time step condition (Eq. (15))

(14)    

(15)  for each boundary particle do

(16)    compute forces (Eq. (10))

(17)  for each fluid particle do

(18)    compute time step

(19)  

(20)  for each rigid body do

(21)    compute total forces, torques (Eq. (11))

(22)    pass forces and torques to physics engine

(23)    update rigid body

(24)    update boundary particles of rigid body

(25)  for each fluid particle do

(26)    

(27)     

(28)    

(29)