This is can be say the most accurate formulation for rigid bodies system with Coulomb friction.
Some quick reads:
1. It couples collision detection and dynamics in one formulation. Currently we have collision detection -> dynamics, thus we only used the information of old time step and the constraint may not be satisfied at the next time step.
2. The formulation is highly non-linear CP and can only be solved by Wisconsin's PATH
3. It will work with any kind of super quadric shapes.
I will also post a demo soon.
Link and abstract:
http://www.roboticsproceedings.org/rss03/p23.htmlStatistics: Posted by ngbinh — Mon Jul 23, 2007 3:14 am
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