Dynamic Model of a Virtual Environment
A virtual world represents an environment consisting of a variety of objects, avatars, actuators and other elements. In general, we are dealing with dynamic environments where objects can move under forces and torques originating from various sources. In this chapter the basic mathematical tools in the study of rigid body dynamics will be introduced. These include equations of motion, rigid body inertial properties, linear and angular momentum and collision detection between rigid bodies. Finally, a closed loop algorithm for computation of body motion is provided.