Real-time physics simulation has been extensively used in computer games, but its potential has yet to be fully realized in design and education. We present an interactive 3D physics engine with a wide variety of applications. In common with traditional FEM, the use of a local element stiffness matrix is retained. However, unlike typical non-linear FEM routines elements forces, moments and inertia are appropriately lumped at nodes following the dynamic relaxation method. A semi-implicit time integration scheme updates linear and angular momentum, and subsequently the local coordinate frames of the nodes. A co-rotational approach is used to compute the resultant field of displacements in global coordinates including the effect of large deformations. The results obtained compare well against established commercial software. We demonstrate that the method presented allows the making of interactive structural models that can be used in teaching to develop an intuitive understanding of structural behaviour. We also show that the same interactive physics framework allows real-time optimization that can be used for geometric and structural design applications.

The design methodology explained in this paper takes a substantial shift from conventional methods where sizing is based on a single load case i.e. the maximum expected load. The difference from a conventional passive approach is that strategically located elements of the system provide controlled output energy (actuators) in order to manipulate actively the internal flow of forces and stresses. In this way stresses can be homogenized and deflections kept within desired limits. The alternative we are proposing offer a way to actively counteract loads when needed. Two dimensional pin-jointed trusses designed using this methodology show that substantial weight savings can be achieved respect to optimised "passive" structures (designed using Fully Utilised Design method).While the decrease in mass through actuation leads to reduction of embodied energy, it increases the operating energy that the active elements need to provide. Whole life energy analysis, implemented as coupled optimization between embodied and operating energy, reveals that an optimal trade-off exists. Results show that energy savings remain significant even considering the operating energy of the actuators for the entire life-cycle of the structure.