Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Coping with friction for non-penetrating rigid body simulation
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Continuous contact simulation for smooth surfaces
ACM Transactions on Graphics (TOG)
Optimization-Based Virtual Surface Contact Manipulation at Force Control Rates
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
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The second order kinematic constraint (acceleration constraint) between two rigid bodies that are rolling, twisting, and slipping against each other while maintaining point contact, is derived by differentiation of the first order constraint and by including the geometry of the surfaces at their contact. This constraint is derived with a view to facilitate the simulation of such motion with general purpose dynamics simulators, and more specifically for the Newton dynamic simulator developed at Cornell University. The constraint is first derived for planar motion and then generalized for motion in three dimensions. Some simple, but representative, examples are presented.