Cart (Loading....) | Create Account
Close category search window

Interactive simulation of solid rigid bodies

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Baraff, D. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

The article describes the implementation of an interactive system for simulating rigid bodies with contact and friction. The system can simulate moderately complex mechanical systems at interactive rates (20-30 Hz on low end Silicon Graphics workstations). New objects and user specified constraints can be added into the simulation environment on the fly. The system uses analytical methods to compute contact forces, as opposed to the penalty methods common in other interactive systems. Currently, the system's weakest feature is that it can fail to detect high speed collisions. Objects that move at high speeds (relative to the step size of the simulation) are subject to a form of aliasing and may tunnel through other objects without causing a collision. Other simplifications of the system involve approximating collision times and locations by interpolation methods, and periodic error correction adjustments of geometric tolerances. It is difficult to try to quantify the error incurred by a given approximation or tradeoff. Some of the design choices will likely curtail the system's use for highly predictive applications. However, they do not seriously affect simulating the basic dynamics of a mechanism like a feeder. In general, the system performs with sufficient accuracy and realism to be considered a viable interactive simulation environment

Published in:

Computer Graphics and Applications, IEEE  (Volume:15 ,  Issue: 3 )

Date of Publication:

May 1995

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.