- Full Description
This book introduces the techniques needed to produce realistic simulations and animations of particle and rigid-body systems. The text focuses on both the theoretical and practical aspects of developing and implementing physically based dynamic-simulation engines. Each chapter examines numerous algorithms, describing their design and analysis in an accessible manner, without sacrificing depth of coverage or mathematical rigor. Features: examines the problem of computing an hierarchical representation of the geometric description of each simulated object, as well as the simulated world; discusses the use of discrete and continuous collision detection to handle thin or fast-moving objects; describes the computational techniques needed for determining all impulsive and contact forces between bodies with multiple simultaneous collisions and contacts; presents techniques that can be used to dynamically simulate articulated rigid bodies; concludes each chapter with exercises.
- Table of Contents
Table of Contents
- Dynamic Simulations.
- Hierarchical Representation of 3D Polyhedra.
- Particle Systems.
- Body Systems.
- Articulated Rigid
- Body Systems.
- Useful 3D Geometric Constructions.
- Numerical Solution of Ordinary Differential Equations of Motion Quaternions.
- Body Mass Properties.
- Useful Time Derivatives.
- Convex Decomposition of 3D Polyhedra.
- Constructing Signed Distance Fields for 3D Polyhedra.
- Conservative Time Advancement for Convex Objects.
- The Linear
- Complementarity Problem.
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