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» Timewarp rigid body simulation
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SIGGRAPH
2000
ACM
13 years 8 months ago
Timewarp rigid body simulation
The traditional high-level algorithms for rigid body simulation work well for moderate numbers of bodies but scale poorly to systems of hundreds or more moving, interacting bodies...
Brian Mirtich
TOG
2012
271views Communications» more  TOG 2012»
11 years 6 months ago
Mass splitting for jitter-free parallel rigid body simulation
We present a parallel iterative rigid body solver that avoids common artifacts at low iteration counts. In large or real-time simulations, iteration is often terminated before con...
Richard Tonge, Feodor Benevolenski, Andrey Voroshi...
WSCG
2001
202views more  WSCG 2001»
13 years 5 months ago
On Flexible Body Approximations of Rigid Body Dynamics
This paper demonstrates that techniques in flexible body dynamics can yield surprising results when applied to rigid bodies. The discussion presents a technique for constructing r...
John McDonald
ICRA
2005
IEEE
174views Robotics» more  ICRA 2005»
13 years 9 months ago
Fast Implementation of Lemke's Algorithm for Rigid Body Contact Simulation
— We present a fast method for solving rigid body contact problems with friction, based on optimizations incorporated into Lemke’s algorithm for solving linear complementarity ...
John E. Lloyd
SIGGRAPH
1989
ACM
13 years 7 months ago
Analytical methods for dynamic simulation of non-penetrating rigid bodies
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 ...
David Baraff