Rest Shape Optimization for Sag-Free Discrete Elastic Rods

We propose a new rest shape optimization framework to achieve sag-free simulations of discrete elastic rods. To optimize rest shape parameters, we formulate a minimization problem based on the kinetic energy with a regularizer while imposing box constraints on these parameters to ensure the system's stability. Our method solves the resulting constrained minimization problem via the Gauss-Newton algorithm augmented with penalty methods. We demonstrate that the optimized rest shape parameters enable discrete elastic rods to achieve static equilibrium for a wide range of strand geometries and material parameters.

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[Paper] (pdf, 50.0 MB)
[Video] (mp4, 221 MB)
[arXiv]