Abstract
Physics simulation is a cornerstone of many computer graphics applications, ranging from video games and virtual reality to visual effects and computational design. The number of techniques for physically-based modeling and animation has thus skyrocketed over the past few decades, facilitating the simulation of a wide variety of materials and physical phenomena. These course notes provide an in-depth introduction to multiphysics simulation methods for computer graphics, covering the mathematical foundations, key algorithms, and practical considerations behind the most widely used approaches.