A constraint-based approach to rigid body dynamics for virtual reality applications

The GALILEO-system is a developmental state-of-the-art rigid body simulation tool with a strong bias to the simulation of unilateral contacts for virtual reality applications. On the one hand the system is aimed at closing the gap between the ‘paradigms of impulse-based simulation’ and of ‘constraint-based simulation’. On the other hand the chosen simulation techniques enable a balancing of the trade-off between the real-time demands of virtual environments (i.e. 15-25 visualizations per second) and the degree of physical correctness of the simulation. The focus of this paper lies on the constraint-based simulation approach to threedimensional multibody systems including a scalable friction model. This is only one of the two main components of the GALILEO-software-module. A nonlinear complementarity problem (NCP) describes the equations of motion, the contact conditions of the objects and the Coulomb friction model. Further on we show, as an interesting evaluation example fro...

• Type: Conference
• Year: 1998
• Where: VRST
• Authors: Jörg Sauer, Elmar Schömer
• Keywords: Body Simulation Tool, Rigid Body Simulation, Simulation, Virtual Reality, VRST 1998