2nd Workshop on Computer Assisted Diagnosis and Surgery

March 2006, Santiago de Chile

Hierarchical Multi-Resolution Finite

Element Model for Soft Body Simulation

Matthieu Nesme, François Faure, Yohan Payan

TIMC & GRAVIR laboratories

 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Motivation

 To model soft bodies for surgical training or

per-operative simulators

(EPIDAURE-INRIA)

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Goal

 Deformable model allowing:

– Interactivity
 speed
 robustness
– Accuracy
 accurate deformations and forces  Finite Element
 dynamics = fast deformation propagation
– Patient specific mesh

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Goal

 Deformable model allowing:

– Interactivity
 speed
 robustness
– Accuracy
 accurate deformations and forces  Finite Element
 dynamics = fast deformation propagation
– Patient specific mesh

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Outline

 Previous work
– Interactive deformable models
– Patient specific models
 Contribution
– Deformable Octree Mesh
– Hierarchical Finite Element
 Results

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Interactive deformable models

 Speed / Fast computation

– Multiresolution [Debunne01,Wu01,Dequidt05]

[Debunne01]

– FE Linear computation of large displacements

[Etzmuß03,Müller04,Nesme05]

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Background

 Dynamical Propagation / Static convergence

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Background

 Dynamical Propagation / Static convergence

?
How many time steps or iterations are necessary
to propagate deformation to all nodes ?

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Background

 Dynamical Propagation / Static convergence

?
How many time steps or iterations are necessary
to propagate deformation to all nodes ?

Explicit solvers #steps=O(#nodes)

Iterative implicit solvers
#iterations=O(#nodes)
Iterative static solvers

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Interactive deformable models

 Fast dynamical propagation / static convergence

– Multigrid solver [Terzopolous88,Wu04]

– Hierarchical FE [Grinspun02,Capell02]

 Better compromise speed / propagation

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Patient specific models

1. Scan data  voxels

2. Segmentation  tagged voxels
3. Surface meshing  triangles
4. Volume meshing  tetrahedra, hexahedra
5. FEM modeling  simulation

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Patient specific models

1. Scan data  voxels

2. Segmentation  tagged voxels
3. Surface meshing  triangles
4. Volume meshing  tetrahedra, hexahedra
5. FEM modeling  simulation

 4 generic volume mesh + matching

[Couteau00,Clatz05]
– Slow, specific cases, degenerate mesh

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Patient specific models

1. Scan data  voxels

2. Segmentation  tagged voxels
3. Surface meshing  triangles
4. Volume meshing  tetrahedra, hexahedra
5. FEM modeling  simulation

 4&5 Meshless method [Desbrun95,Müller04]

– Not interactive

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Patient specific models

1. Scan data  voxels

2. Segmentation  tagged voxels
3. Surface meshing  triangles
4. Volume meshing  tetrahedra, hexahedra
5. FEM modeling  simulation

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Contribution

 Deformable Octree Mesh  3 & 4 & 5

– Does not need for volume or surface mesh
 directly segmented scan
– Multiresolution

 Hierarchical FE
– Fast propagation

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Decompose the bounding box of the object into an

octree
 FEM modeling on cells

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Decompose the bounding box of the object into an

octree
 FEM modeling on cells
 Interpolate the displacement within cells

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Decompose the bounding box of the object into an

octree
 FEM modeling on cells
 Interpolate the displacement within cells
 Add degrees of freedom where needed

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Precompute a maximal resolution

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Precompute a maximal resolution

 Multiresolution with virtual tree structures
– Mechanics
– Rendering
– (collision mangement, …)

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Compute cell properties using filling ratio and

material properties

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Compute cell properties using filling ratio and

material properties

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Compute cell properties using filling ratio and

material properties

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Mechanics

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Mechanics

 Classical Finite Element formulation

Elements Interpolations functions

NODAL

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Define functions using a hierarchical basis

 Goal: to give a better propagation

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Define functions using a hierarchical basis

 Goal: to give a better propagation

28
 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Define functions using a hierarchical basis

 Goal: to give a better propagation

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Hierarchical positions

P0 ΔP4
P1

ΔP7 ΔP8
ΔP5

P3 ΔP6 P2

hierarchical nodal

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Hierarchical positions

nodal hierarchical

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Functions influencing an element

nodal hierarchical

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Propagation in nodal

Explicit step 0

Implicit / static iteration 0

initial deformation 33
 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Propagation in nodal

Explicit step 0 step 1

Implicit / static iteration 0 iteration 1

initial deformation propagated deformation 34

 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Propagation in nodal

Explicit step 0 step 1 step 2

Implicit / static iteration 0 iteration 1 iteration 2

initial deformation propagated deformation 35

 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Propagation in nodal

Explicit step 0 step 1 step 2 step 3

Implicit / static iteration 0 iteration 1 iteration 2 iteration 3

initial deformation propagated deformation 36

 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Propagation with hierarchical functions

Explicit step 0

Implicit / static iteration 0

initial deformation 37
 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Propagation with hierarchical functions

direct interaction

Explicit step 0 step 1

Implicit / static iteration 0 iteration 1

initial deformation propagated deformation 38

 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Propagation with hierarchical functions

direct interaction + interpolation

Explicit step 0 step 1

Implicit / static iteration 0 iteration 1

initial deformation propagated deformation interpolated deformation 39

 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

An implementation

 Linear strain and stress tensors

 Linear interpolation inside cubic elements
 Static solver using Conjugate Gradient

in hierarchical coordinates

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Results - Propagation
Displacement
 Evolution of the solution during
a static solving
– Pull blue node
– Measure displacement of green node
force

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Results - Propagation
Displacement
 Evolution of the solution during
a static solving
– Pull blue node
– Measure displacement of green node
force

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Results - Propagation
Displacement
 Evolution of the solution during
a static solving
– Pull blue node
– Measure displacement of green node
force

real-time

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Results - Propagation

 Static solver with changing boundary conditions

 10 CG iterations

nodal / hierarchical

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Results – Global convergence

 Number of CG iterations for global convergence

force

Example 1 Example 2

gravity

Number of elements
1 8 64 512
composing the beam
nodal 1 13 55 146
Example 1
hierarchical 1 11 27 47 (in number of CG
nodal 8 50 87 198 iterations)
Example 2
hierarchical 6 24 37 52
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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Conclusion & Perspective

 Deformable octree mesh

– does not need for surfacic or volumic mesh
 Hierarchical FE
– fast propagation

 Hierarchical corotational for large displacements

 Automatic adaptative criteria
 Hierarchical boundary conditions

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Thank you

Hierarchical Multi-Resolution Finite Element

Model for Soft Body Simulation

Matthieu Nesme, François Faure, Yohan Payan

[email protected]

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

An implementation

 Difference with classical nodal FE:

– Computations of K take into account all ancestors cells

Functions at the same level of the

considered element

Functions at an upper level from

ancestors

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

An implementation

 Integration

 Range definition of the functions

ancestor

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Interactive deformable models

 Force computation (deformation, stress)

 Dynamics  Time integration

 Multiresolution models

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Dynamics

 Explicit methods
– Fast computation of one step
– Slow propagation

 Implicit methods [Baraff98]

– Stable
– Solve a system
– Longer step
– Propagation / computational time

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Force computation

 Precomputation [Cotin96]
– Precomputed inverse matrix
– Quasi-static solver
– Small displacements
 Large displacements
– Non-linear strain tensor [Debunne01,Picinbonno03]
– Corotational [Etzmuß03,Müller04]
 Material laws [Terzopoulos88,Hauth03]

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Previous Work - Adaptativity

 Multiresolution
– Allocate ressources where they are most profitable
 Several meshes at several levels of detail [Debunne01]
– Difficult meshes building
– No mathematical proofs

 Precomputed progressive meshes [Wu01]

– Difficult to adapt meshes during the animation
 Octree Mesh [Dequidt05]
– Problems at join between several levels of detail

 Hierarchical [Grinspun02,Wu04]
 Better compromise speed / propagation

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Hierarchical positions

P0 ΔP4 P0 P0
P1
P1 P1
P2 P2
P3 P3
ΔP7 ΔP8 ΔP4 (P0+P1)/2+ΔP4
ΔP5 ΔP5 (P1+P2)/2+ΔP5
ΔP6 (P2+P3)/2+ΔP6
ΔP7 (P3+P0)/2+ΔP7
ΔP8 (P0+P1+P2+P3)/4+ΔP8
P3 ΔP6 P2
hierarchical nodal

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Hierarchical FE Bases

 Define functions using a hierarchical basis

 Goal: to give a better propagation

Nodal functions Hierarchical functions

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Octree Mesh

 Compute cell properties using filling ratio and

material properties

image, virer surfacique, commencer par finnest->coarsest + multires et fleche

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 Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation

Results - Propagation
Displacement
 Evolution of the solution during
a static solving
– Pull blue node
– Measure displacement of green node
force

real-time

Relative error

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