Issue No. 03 - May (1995 vol. 15)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/38.376615
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.
David Baraff, "Interactive Simulation of Solid Rigid Bodies", IEEE Computer Graphics and Applications, vol. 15, no. , pp. 63-75, May 1995, doi:10.1109/38.376615