Rest Shape Optimization for Sag‐Free Discrete Elastic Rods

Abstract 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.