Physically-Based Interactive Sand Simulation

The interactive simulation of 3D terrains has been approached from several perspectives. Due to the complexity of the system involved, most of the models proposed focus on a visually realistic animation of the scene, rather than on a physically-based accurate simulation of a granular system. Those models lack generality when interacting with the environment; in most cases, no reaction forces are computed, considering only soil deformation. This limitation reduces their usability in applications such as driving simulators. We propose the use of a theoretical discrete model that considers normal forces for 3D real-time simulation of granular systems. We also extend this model to consider horizontal forces, allowing a wider range of interactions. Several numerical tests have been implemented and detailed results have been analyzed which show a good model performance.