Precomputed Solving for j Equality Constraint.

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Presentation transcript:

Precomputed

Solving for j

Equality Constraint

Computing f based on the change of the acceleration at Pa

Conditions on the constraint force Avoid inter-penetration distance between two contact points > 0 Repulsive forces Zero values if contact breaks

Rest contact Separating

Non-penetration Repulsive Zero value if contact breaks

Dynamic Simulation Software Open Dynamics Engine (ODE) –Open source library for simulating rigid body dynamics –Supports joints, collision detection, and friction Coriolis—rigid body dynamics engine in Maya

Video Jovan Popović, Steven M. Seitz, Michael Erdmann, Zoran Popović, Andrew Witkin “Interactive Manipulation of Rigid Body Simulations” SIGGRAPH 2000