Realtime Rigid Body Simulation Using Impulses
نویسنده
چکیده
Using impulses for rigid body simulation is rapidly becoming a standard method for realtime simulations. This paper discusses how impulses can be used for modeling both collision and contact between rigid bodies when using the coulomb friction model. Time stepping techniques are also discussed including an example method optimized specifically for handling large numbers of simultaneous collisions and contacts. Lastly, several advanced optimizations that can be applied when solving contacts and do not sacrifice the visual quality of the simulation are discussed.
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