Impulse-based Simulation of Rigid Bodies

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Impulse-based Simulation of Rigid Bodies (1995)

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by Brian Mirtich , John Canny

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177 - 10 self

BibTeX

@MISC{Mirtich95impulse-basedsimulation,
    author = {Brian Mirtich and John Canny},
    title = {Impulse-based Simulation of Rigid Bodies},
    year = {1995}
}

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Abstract

We introduce a promising new approach to rigid body dynamic simulation called impulse-based simulation. The method is well suited to modeling physical systems with large numbers of collisions, or with contact modes that change frequently. All types of contact (colliding, rolling, sliding, and resting) are modeled through a series of collision impulses between the objects in contact, hence the method is simpler and faster than constraint-based simulation. We have implemented an impulse-based simulator that can currently achieve interactive simulation times, and real time simulation seems within reach. In addition, the simulator has produced physically accurate results in several qualitative and quantitative experiments. After giving an overview of impulse-based dynamic simulation, we discuss collision detection and collision response in this context, and present

Keyphrases

impulse-based simulation rigid body collision impulse promising new approach interactive simulation time constraint-based simulation real time simulation contact mode collision detection body dynamic simulation large number physical system accurate result quantitative experiment collision response impulse-based simulator impulse-based dynamic simulation

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