Sampling plausible solutions to multi-body constraint problems
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
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In this work I present the equations of a closed system of n rigid bodies. This system has a set of n rigid bodies S1,S2,...Sn,. The bodies Sk and Sk-1 (1k≤n) have a point in common Ok The system is united by a spherical joint. The Points O1 and On+1 of the bodies S1 and Sn+1 are fixed points.