Dynamic Model of a Virtual Environment

  • Matjaž MiheljEmail author
  • Domen Novak
  • Samo Begus
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 68)


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.


Angular Momentum Rigid Body Reaction Force Virtual Environment Coordinate Frame 
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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Faculty of Electrical EngineeringUniversity of LjubljanaLjubljanaSlovenia

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