D. Baraff
Abstract
A method for analytically calculating the forces between systems of rigid bodies in resting (non-colliding) contact is presented. The systems of bodies may either be in motion or static equilibrium and adjacent bodies may touch at multiple points. The analytic formulation of the forces between bodies in non-colliding contact can be modified to deal with colliding bodies. Accordingly, an improved method for analytically calculating the forces between systems of rigid bodies in colliding contact is also presented. Both methods can be applied to systems with arbitrary holonomic geometric constraints, such as linked figures. The analytical formulations used treat both holonomic and non-holonomic constraints in a consistent manner.
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Index Terms
- Analytical methods for dynamic simulation of non-penetrating rigid bodies
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Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89: Proceedings of the 16th annual conference on Computer graphics and interactive techniquesA method for analytically calculating the forces between systems of rigid bodies in resting (non-colliding) contact is presented. The systems of bodies may either be in motion or static equilibrium and adjacent bodies may touch at multiple points. The ...
Coping with friction for non-penetrating rigid body simulation
Algorithms and computational complexity measures for simulating the motion of contacting bodies with friction are presented. The bodies are restricted to be perfectly rigid bodies that contact at finitely many points. Contact forces between bodies must ...
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