Abstract
The paper presents a simple, robust, and effective constraint enforcement scheme for rigid body dynamic simulation. The constraint enforcement scheme treats the constraint equations implicitly providing stability as well as accuracy in constrained dynamic problems. The method does not require ad-hoc problem dependent parameters. We describe the formulation of implicit constraint enforcement for both holonomic and non-holonomic cases in rigid body simulation. A first order version of the method is compared to a first order version of the well-known Baumgarte stabilization. © Springer-Verlag Berlin Heidelberg 2006.
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CITATION STYLE
Hong, M., Welch, S., Trapp, J., & Choi, M. H. (2006). Implicit constraint enforcement for rigid body dynamic simulation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 3991 LNCS-I, pp. 490–497). Springer Verlag. https://doi.org/10.1007/11758501_67
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