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Abstract

This chapter presents the theoretical and practical aspects of designing and implementing dynamic-simulation engines for rigid-body systems. It covers both generic and specialized algorithms for non-convex and convex objects, respectively, including the special cases of thin and fast moving objects. Special attention is given to one of the most difficult and least understood topics in physically based modeling, namely, the computational techniques needed for determining all impulsive and contact forces between bodies with multiple simultaneous collisions and contacts.

Keywords

Rigid Body Contact Force Convex Body Collision Detection Collision Time 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  • Murilo G. Coutinho

    There are no affiliations available

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