Real‐time hybrid solid simulation: spectral unification of deformable and rigid materials

A novel framework is proposed in this paper to simulate hybrid solids with deformable and rigid materials in real‐time. Both types of materials are uniformly integrated into one spectral simulator. Based on the modal warping technique, we employ a new constraint strategy which eliminates the accumulation of approximation errors at the boundary interfaces, thus naturally gluing different materials. We also utilize the GPU to accelerate the run‐time computation when updating the geometry of the hybrid solid—the most expensive step in this framework. This work provides a general‐purpose solution of simulating hybrid objects in real‐time, even for large‐scale models.