SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Dynamic simulation of autonomous legged locomotion
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
Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Impulse-based dynamic simulation
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Interactive animation of structured deformable objects
Proceedings of the 1999 conference on Graphics interface '99
Constraints methods for flexible models
SIGGRAPH '88 Proceedings of the 15th 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
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
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Existing methods of simulation of motion of rigid bodies are considered that take into account collisions and joints of such bodies. A new fast universal fixed-step-size algorithm of speed constraints is proposed. This algorithm combines all the advantages of well-known algorithms and is deprived of their drawbacks. Using a modified Dantzig method, the upper time estimate equal to O(4k) is obtained for the algorithm.