Analytical methods for dynamic simulation of non-penetrating rigid bodies

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  • D. Baraff
    Program of Computer Graphics, Comell University, Ithaca, NY

書誌事項

公開日
1989-07
権利情報
  • https://www.acm.org/publications/policies/copyright_policy#Background
DOI
  • 10.1145/74334.74356
公開者
Association for Computing Machinery (ACM)

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説明

<jats:p>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.</jats:p>

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