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 static equilibrium and adjacent bodies may touch at multiple points. The analytic formulation of the forces between bodies in non-colliding contact can be modified to deal with colliding bodies. Accordingly, an improved method for analytically calculating the forces between systems of rigid bodies in colliding contact is also presented. Both methods can be applied to systems with arbitrary holonomic geometric constraints, such as linked figures. The analytical formulations used treat both holonomic and non-holonomic constraints in a consistent manner. Categories and Subject Descriptors: I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling; I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism Additional Key Words and Phrases: dynamics, constraints, simulation

• Type: Conference
• Year: 1989
• Where: SIGGRAPH
• Authors: David Baraff
• Keywords: Adjacent Bodies, Computer Graphics, Rigid Bodies, SIGGRAPH 1989, Systems