Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Straightening polygonal arcs and convexifying polygonal cycles
FOCS '00 Proceedings of the 41st Annual Symposium on Foundations of Computer Science
SODA '06 Proceedings of the seventeenth annual ACM-SIAM symposium on Discrete algorithm
Dynamic Simulation of Articulated Rigid Bodies with Contact and Collision
IEEE Transactions on Visualization and Computer Graphics
Proceedings of the nineteenth annual ACM-SIAM symposium on Discrete algorithms
Two-way coupling of rigid and deformable bodies
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
| Hi-index | 0.00 |
The problem of checking whether a given tower of bricks is stable can be easily answered by checking whether a system of linear inequalities has a feasible solution. A more challenging problem is to determine how an unstable tower of bricks collapses. We use Gauß' principle of least restraint to show that this, and more general rigid-body simulation problems in which many parts touch each other, can be reduced to solving a sequence of convex quadratic programs, with linear constraints, corresponding to a discretization of time. The first of these quadratic programs gives an exact description of initial infinitesimal collapse. The results of the subsequent programs need to be integrated over time to yield an approximation of the global motion of the system.