Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th 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
The Design of the XMP Linear Programming Library
ACM Transactions on Mathematical Software (TOMS)
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Interactive physically-based manipulation of discrete/continuous models
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Position-based physics: simulating the motion of many highly interacting spheres and polyhedra
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Fast dynamic simulation of flexible and rigid bodies with kinematic constraints
VRST '97 Proceedings of the ACM symposium on Virtual reality software and technology
Proceedings of the fourteenth annual symposium on Computational geometry
Software architecture for a constraint-based virtual environment
Proceedings of the ACM symposium on Virtual reality software and technology
Timewarp rigid body simulation
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
A fast implicit integration method for solving dynamic equations of movement
VRST '01 Proceedings of the ACM symposium on Virtual reality software and technology
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Gesture-Based Programming for Robotics: Human-Augmented Software Adaptation
IEEE Intelligent Systems
Physically-Based Manipulation on the Responsive Workbench
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Velocity-based shock propagation for multibody dynamics animation
ACM Transactions on Graphics (TOG)
Using ports and joints to compose virtual prototypes of mechatronic systems in VR environment
ACMOS'06 Proceedings of the 8th WSEAS international conference on Automatic control, modeling & simulation
Numerical methods for linear complementarity problems in physics-based animation
ACM SIGGRAPH 2013 Courses
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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.