Effective time step restrictions for explicit MPM simulation

Time steps for explicit MPM simulation in computer graphics are often selected by trial and error due to the challenges in automatically selecting stable time step sizes. Our time integration scheme uses time step restrictions that take into account forces, collisions, and even grid‐to‐particle transfers calculated near the end of the time step. We propose a novel set of time step restrictions that allow a time step to be selected that is stable, efficient to compute, and not too far from optimal. We derive the general solution for the sound speed in nonlinear isotropic hyperelastic materials, which we use to enforce the classical CFL time step restriction. We identify a single‐particle instability in explicit MPM integration and propose a corresponding time step restriction in the fluid case. We also propose a reflection‐based boundary condition for domain walls that supports separation and accurate Coulomb friction while preventing particles from penetrating the domain walls.