A new algorithm for computing contact forces between solid objects with friction is presented. The algorithm allows a mix of contact points with static and dynamic friction. In co...
An algorithm for simulating simultaneous collision impulse with friction working at multiple collision points between three dimensional rigid bodies is described. We also present ...
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 ...
We introduce a promising new approach to rigid body dynamic simulation called impulse-based simulation. The method is well suited to modeling physical systems with large numbers o...
We present a theory of qualitative rigid body mechanics and describe a program that uses this theory to compute qualitative dynamic simulations.1 The program works directly from a...
Thomas F. Stahovich, Randall Davis, Howard E. Shro...