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Erschienen in:
2006 | OriginalPaper | Buchkapitel
Implicit Constraint Enforcement for Rigid Body Dynamic Simulation
verfasst von : Min Hong, Samuel Welch, John Trapp, Min-Hyung Choi
Erschienen in: Computational Science – ICCS 2006
Verlag: Springer Berlin Heidelberg
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The paper presents a simple, robust, and effective constraint enforcement scheme for rigid body dynamic simulation. The constraint enforcement scheme treats the constraint equations implicitly providing stability as well as accuracy in constrained dynamic problems. The method does not require ad-hoc problem dependent parameters. We describe the formulation of implicit constraint enforcement for both holonomic and non-holonomic cases in rigid body simulation. A first order version of the method is compared to a first order version of the well-known Baumgarte stabilization.