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Rigid Body Dynamics (I)
Rigid Body Dynamics (I)
Spatial information
Velocity information
• R=
Unit Quaternion Usage
ClearForces(F(t), (t))
AddExternalForces(F(t), (t))
Xnew à Solver::Step(X, F(t), (t), t, t)
t à findCollisionTime()
Xnew à Solver::Step(X, F(t), (t), t, t)
C Ã Contacts(Xnew)
while (!C.isColliding())
applyImpulses(Xnew)
end if
X Ã Xnew
t à t + t
End for
Penalty Methods