“Implementation of Fast Frictional Dynamics for Rigid Bodies”

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




    Implementation of Fast Frictional Dynamics for Rigid Bodies



    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.


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