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From multibody systems modeling to distributed real-time simulation

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1 Author(s)
Cozot, R. ; IRISA, Rennes, France

We present an expandable simulation framework. This system, called DREAM (deformable and rigid objects efficient for simulation and modeling), provides modelling, analysis and real-time simulation tools for rigid and deformable multibody systems. DREAM modelling tool consists of a unified abstract model which integrates traditional physically based models such as rigid solids, mass-spring meshes, finite elements and particle systems. By means of Lagrange equations, DREAM computes exact motion equations in a symbolic form to allow easy analysis of such mechanisms. Afterwards DREAM generates a C++ simulation code which solves the motion equations in our real-time distributed simulation platform. The latter is composed of different layers which manage communication and synchronization between concurrent C++ simulation codes. We present theoretical, numerical and practical aspects of the simulation framework

Published in:

Simulation Symposium, 1996., Proceedings of the 29th Annual

Date of Conference:

8-11 Apr 1996