Rigid Body Simulation with Contact and Constraints

We present techniques for constructing an interactive rigid body simulation system, and describe our implementation such a system. We use a constraint-based simulation approach, incorporating a time stepping method which handles multiple contacts with friction in a general way. We describe a method for constraint stabilization for simulations with contact. The method is based on the post-stabilization methods of Ascher and Chin, but is formulated as a linear complementarity problem, allowing us to solve for the stabilization step when there are redundant inequality (contact) constraints. As an application of our simulation software, we present a method for human character animation where motion capture data is used to drive a rigid body simulation. This allows physical constraints and forces acting on the character to be taken into account.

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