Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Realistic animation of rigid bodies
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
A Fast Impulsive Contact Suite for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
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We present a linear-time algorithm for treating collision response of articulated rigid bodies in physically based modeling. By utilizing the topology of articulated rigid bodies and the property of linear equations, our method can solve in linear time the system of linear equations that is crucial for treating collision response.