Constraint-based collision and contact handling using impulses
Constraint-based collision and contact handling using impulses
复制标题
使用脉冲进行基于约束的碰撞和接触处理
DOI：
--
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Alfred A. Schmitt
中科院分区：
文献类型：
--
作者：
Jan Bender;Alfred A. Schmitt
本文提出了一种处理刚体间碰撞和永久接触的新方法。基于约束的摩擦接触力计算方法提供了很高的精度。计算通常转化为优化问题，并使用线性或二次规划等技术解决。基于冲量的方法计算冲量以防止碰撞物体相互穿透。这些脉冲的测定简单而快速。基于脉冲的方法是非常有效的，但它们不如基于约束的方法准确，因为它们同时只解决两个碰撞体之间的一个接触。所提出的方法使用基于约束的方法。它可以同时处理两个碰撞物体之间的多个接触。对于每个碰撞和接触，都定义了非穿透约束。通过迭代计算脉冲来满足这些约束。在相同的迭代循环中，确定用于动态和静态摩擦的脉冲。新方法提供了基于约束的方法的精度，并且像基于脉冲的方法一样高效且易于实现。
In this paper a new method for handling collisions and permanent contacts between rigid bodies is presented. Constraint-based methods for computing contact forces with friction provide a high degree of accuracy. The computation is often transformed into an optimization problem and solved with techniques like linear or quadratic programming. Impulse-based methods compute impulses to prevent colliding bodies from interpenetrating. The determination of these impulses is simple and fast. The impulse-based methods are very efficient but they are less accurate than the constraint-based methods because they resolve only one contact between two colliding bodies at the same time. The presented method uses a constraint-based approach. It can handle multiple contacts between two colliding bodies at the same time. For every collision and contact a non-penetration constraint is defined. These constraints are satisfied by iteratively computing impulses. In the same iteration loop impulses for dynamic and static friction are determined. The new method provides the accuracy of a constraint-based method and is efficient and easy to implement like an impulse-based one.
DOI：
--
发表时间：
--
期刊：
Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
影响因子：
--
作者：
Rachel Weinstein;Joseph Teran;Ron Fedkiw
通讯作者：
Rachel Weinstein;Joseph Teran;Ron Fedkiw