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dc.contributor.authorBender, Janen_US
dc.contributor.authorSchmitt, Alfred A.en_US
dc.contributor.editorCesar Mendoza and Isabel Navazoen_US
dc.date.accessioned2014-02-01T06:53:30Z
dc.date.available2014-02-01T06:53:30Z
dc.date.issued2006en_US
dc.identifier.isbn3-905673-61-4en_US
dc.identifier.urihttp://dx.doi.org/10.2312/PE/vriphys/vriphys06/081-090en_US
dc.description.abstractA dynamic simulation method for multi-body systems is presented in this paper. The special feature of this method is that it satisfies all given constraints by computing impulses. In each simulation step the joint states after the step are predicted. In order to obtain valid states after the simulation step, impulses are computed and applied to the connected bodies. Since a valid joint state is targeted exactly, there is no drift as the simulation proceeds in time and so no additional stabilisation is required. In previous approaches the impulses for a multi-body system were computed iteratively. Since dependencies between joints were not taken into account, the simulation of complex models was slow. A novel method is presented that uses a system of linear equations to describe these dependencies. By solving this typically sparse system the required impulses are determined. This method allows a very fast simulation of complex multi-body systems.en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectCategories and Subject Descriptors (according to ACM CCS): I.3.7 [Computer Graphics]: Animationen_US
dc.titleFast Dynamic Simulation of Multi-Body Systems Using Impulsesen_US
dc.description.seriesinformationVriphys: 3rd Workshop in Virtual Realitiy, Interactions, and Physical Simulationen_US


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