This Article 
   
 Share 
   
 Bibliographic References 
   
 Add to: 
 
Digg
Furl
Spurl
Blink
Simpy
Google
Del.icio.us
Y!MyWeb
 
 Search 
   
Interactive Simulation of Solid Rigid Bodies
May 1995 (vol. 15 no. 3)
pp. 63-75
An interactive system for dynamic simulation of rigid bodies with contact, collision and Coulomb friction is presented. Arbitrary bilateral constraints are also supported. Contact, friction, and bilateral constraint forces are computed using analytical methods, as opposed to the penalty methods used by present-day interactive simulation systems. The system allows the user to directly manipulate objects in the simulation world and introduce on-the-fly modifications. The system is fast enough to simulate the interactions of moderately complex mechanical systems at a 20-30Hz display-rate on a low-end SGI workstation.

1. E. Sacks and L. Joskowicz, “Automated Modeling and Kinematic Simultion of Mechanisms,” Computer-Aided Design, Vol. 25, No. 2, Feb. 1993, pp. 106-118.
2. D. Baraff, "Curved Surfaces and Coherence for Non-Penetrating Rigid Body Simulation," Computer Graphics, vol. 24, no. 4, pp. 19-28, Aug. 1990.
3. M.C. Lin and J.F. Canny, "Efficient Algorithms for Incremental Distance Computation," Proc. IEEE Conf. Robotics and Automation, pp. 1,008-1,014, 1991.
4. P. Lötstedt, “Numerical Simulation of Time-Dependent Contact Friction Problems in Rigid Body Mechanics,” SIAM J. Scientific Statistical Computing, Vol. 5, No. 2, 1984, pp. 370-393.
5. D. Baraff, “Issues in Computing Contact Forces for Nonpenetrating Rigid Bodies,” Algorithmica, Vol. 10, 1993, pp. 292-352.
6. P. Gill et al., “User’s Guide for QPSOL: A Fortran Package for Quadratic Programming,” Tech. Report Sol84-6, System’s Optimization Laboratory, Dept.of Operations Research, Stanford Univ., Palo Alto, Calif., 1984.
7. R.E. Marsten, “The Design of the XMP Linear Programming Library,” ACM Trans. Mathematical Software, Vol. 7, No. 4, 1981, pp. 481-497.
8. D. Baraff, "Fast Contact Force Computation for Nonpenetrating Rigid Bodies," Computer Graphics (SIGGRAPH '94 Proc.), vol. 28, pp. 23-34,Orlando, Fla., July 1994.
9. M.T. Mason and Y. Wang, “Modeling Impact Dynamics for Robotic Operations,” Proc. Int’l Conf. Robotics and Automation, IEEE Computer Society Press, Los Alamitos, Calif., 1987, pp. 678-685.
10. R. Barzel and A.H. Barr, "A Modeling System Based on Dynamic Constraints," Computer Graphics (Proc. Siggraph), Vol. 22, No. 4, Aug. 1988, pp. 179-188.
11. D. Baraff and R. Mattikalli, “Impending Motion Direction of Contacting Rigid Bodies,” Tech. Report CMU-RI-TR-93-15, Carnegie Mellon Univ., 1993.

Index Terms:
interactive simulation
Citation:
David Baraff, "Interactive Simulation of Solid Rigid Bodies," IEEE Computer Graphics and Applications, vol. 15, no. 3, pp. 63-75, May 1995, doi:10.1109/38.376615
Usage of this product signifies your acceptance of the Terms of Use.