“Implementation of Fast Frictional Dynamics for Rigid Bodies”

  • ©Danny M. Kaufman, Timothy Edmunds, and Dinesh K. Pai

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Title:

    Implementation of Fast Frictional Dynamics for Rigid Bodies

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Abstract:


    This sketch will present some important details that went into the implementation of our Fast Frictional Dynamics algorithm [Kauf- man et al. 2005]. Our goal is the fast simulation of large sets of non-convex rigid bodies. By avoiding repeated pairwise comparisons between bodies, we are able to formulate a multi-body simulation algorithm with a complexity that is linear in the total number of contacts per time step.

References:


    Gottschalk, S., Lin, M. C., And Manocha, D. 1996. OBB-tree: A hierarchical structure for rapid interference detection. In Proceedings of SIGGRAPH 96.
    Kaufman, D. M., Edmunds, T., And Pai, D. K. 2005. Fast frictional dynamics for rigid bodies. ACM Transactions on Graphics (SIGGRAPH 05).
    Yang, K., And Murty, K. G. 1992. New iterative methods for linear inequalities. Journal of Optimization Theory and Applications 72, 1, 163–185.


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