64-173 Seminar: Inside A Physics Engine
Computer simulation and deep-learning for gaming and robotics
| Room: |
MIN-A Seminar Room 5.2 |
| Date: |
Tuesday, 10:15 - 11:45 |
| Organizer: |
Norman Hendrich
|
Important Dates
Despite some delays and problems with the new buildings,
the seminar will start on schedule on 08/April/2026!
Course Description
The combination of deep learning and efficient physics simulation
is the key innvoation behind recent successes in robotics,
including stable walking, running, and dancing of humanoid robots.
The same algorithms are used for realistic looking object dynamics
and animations in computer games.
In the seminar, we will look at the fundamental object representations
and core algorithms needed for physics simulation.
We will also look at common game engines (e.g. Godot, Unity) and
simulators focusing on realistic rigid-body and multi-body dynamics.
Knowledge of basic linear algebra and a C/C++ or Python is reommended.
Seminar Schedule
- 08.04: canceled (MIN-Forum building not ready)
- 15.04: introduction and game-engine basics (Norman)
- 22.04: introduction to physics simulation, Mujoco Demos (Norman)
- 29.04:
- 06.05:
- 13.05: pentecost holiday
- 20.05:
- 27.05:
- 20.05:
- 03.06:
- 10.06:
- 17.06:
- 24.06:
- 01.07:
- 08.07:
- 15.07:
Seminar Topics
- Inverse Kinematics (Godot)
- Water Simulation (Godot)
- Swarm Simulation (Unity)
- Coordinate Transformations, including Rotations in 2D and 3D
- Forward and Inverse Kinematics
- Object Representation, Polygons, Meshes, Voxels
- Collision Detection Algorithms, GJK, EPA, etc.
- Convex Decomposition, CoACD, etc.
- Signed Distance Fields
- Maximal and Generalized Coordinates
- Classical Rigid-Body Algorithms (e.g. Open Dynamics Engine)
- Impulse-based Simulation (e.g. Bullet Engine)
- Mujoco
- Parallel Simulation (Mujoco JAX, BRAX, ...)
- Position based Dynamics
- Flexible and Deformable Objects
- Continuum Models
Learning Objectives
- Acquire core concepts of physics simulation in games and for robotics
- Study key algorihtms in detail and learn how to explain them
- Develop academic presentation skills
- Engage in peer learning through knowledge exchange
Papers and Reference Materials
