Here you go:

https://matthias-research.github.io/pag ... lsteps.pdf

## Search found 875 matches

- Tue Jan 28, 2020 10:37 pm
- Forum: Links, Papers, Libraries, Demos, Movies, Comparisons
- Topic: nVidia's new Temporal Gauss-Seidel (TGS) solver in PhysX 4
- Replies:
**1** - Views:
**1262**

- Thu Jan 11, 2018 10:30 pm
- Forum: Links, Papers, Libraries, Demos, Movies, Comparisons
- Topic: Conjugate Gradient based MLCP solver source
- Replies:
**5** - Views:
**2469**

### Re: Conjugate Gradient based MLCP solver source

Thanks for sharing!

- Tue Nov 21, 2017 9:11 pm
- Forum: General Bullet Physics Support and Feedback
- Topic: Get linear velocity at non-central point on a rigid body?
- Replies:
**2** - Views:
**1981**

### Re: Get linear velocity at non-central point on a rigid body

The velocity of any point on the rigid body can easily be computed like this:

btVector3 Lever= Point - Body->GetCenterOfMass();

btVector3 Velocity = Body->GetLinearVelocity() + btCross( Body->GetAngularVelocity, Lever);

I assume all points and velocities are in world space here.

btVector3 Lever= Point - Body->GetCenterOfMass();

btVector3 Velocity = Body->GetLinearVelocity() + btCross( Body->GetAngularVelocity, Lever);

I assume all points and velocities are in world space here.

- Mon Nov 06, 2017 5:12 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: featherstone ABA in Bullet
- Replies:
**1** - Views:
**2687**

### Re: featherstone ABA in Bullet

IIRC the squared omega (angular velocity) terms lead to simulation instabilities in practice. So Bullet added damping to improve stability.

- Sun Sep 17, 2017 7:19 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Correct Contact Manifold
- Replies:
**3** - Views:
**3636**

### Re: Correct Contact Manifold

Then (according to several sources) one says that objects A and B were hitted in points Support(A,normal) and Support(B,-normal) respectively. And here happens something weird. I don't know where this is from, but I can think of many examples where this wrong. Obviously you are proving this is not ...

- Sat Sep 16, 2017 1:40 am
- Forum: General Bullet Physics Support and Feedback
- Topic: Bullet stress test with 5K dynamic cubes
- Replies:
**3** - Views:
**3700**

### Re: Bullet stress test with 5K dynamic cubes

Pierre open sourced Peel. You can download it here:

https://github.com/Pierre-Terdiman/PEEL

I have integrated Rubikon into as well and use it constantly to compare performance. So you can run these tests yourself.

https://github.com/Pierre-Terdiman/PEEL

I have integrated Rubikon into as well and use it constantly to compare performance. So you can run these tests yourself.

- Thu Sep 14, 2017 9:28 pm
- Forum: General Bullet Physics Support and Feedback
- Topic: Bullet stress test with 5K dynamic cubes
- Replies:
**3** - Views:
**3700**

### Re: Bullet stress test with 5K dynamic cubes

Pierre has done excessive testing which you can read about here:

http://www.codercorner.com/blog/?p=748

http://www.codercorner.com/blog/?p=748

- Wed Aug 30, 2017 10:14 pm
- Forum: General Bullet Physics Support and Feedback
- Topic: Raytest seems to be inconsistent?
- Replies:
**3** - Views:
**2031**

### Re: Raytest seems to be inconsistent?

This is actually a common problem with physics integration into the game. I usually wrap the raycast API of the physics engine and allow the user to specify the filter plus a list of ignored entities. E.g in your case I would call something like: pScene->CastRay( RayStart, RayEnd, Filter, PlayerID )...

- Fri May 19, 2017 5:27 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: What is the meaning of parameter Kcfm in PGS Formulation?
- Replies:
**3** - Views:
**6514**

### Re: What is the meaning of parameter Kcfm in PGS Formulatio

This might be unrelated to the soft parameters. Normally we solve for a relative velocity of zero at a contact point or limit, but you can also imagine to solve to revert some of the approaching velocity to model bouncy contacts (e.g. a ball) or limits. https://en.wikipedia.org/wiki/Coefficient_of_r...

- Thu May 18, 2017 7:49 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: What is the meaning of parameter Kcfm in PGS Formulation?
- Replies:
**3** - Views:
**6514**

- Tue May 09, 2017 2:52 am
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Non-linear Gauss-Seidel solver
- Replies:
**11** - Views:
**6262**

### Re: Non-linear Gauss-Seidel solver

Sure thing! I am glad I could help. One thing I found over the years is that the theory can be quite involved, but the final result is relatively simple. On the downside there are quite some problems in the detail and implementation. But you will figure those out along the way and there is often no ...

- Mon May 08, 2017 4:45 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Non-linear Gauss-Seidel solver
- Replies:
**11** - Views:
**6262**

### Re: Non-linear Gauss-Seidel solver

I would add one step for clarity: For n Newton iterations Update J, M and C using p For m Gauss-Seidel iterations For k constraints Solve lambda = -C / (J * M * J^ T) Update dp Update p And then you merge it like you show. I would not say it is equivalent, but it can converge against the same soluti...

- Thu May 04, 2017 5:02 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Non-linear Gauss-Seidel solver
- Replies:
**11** - Views:
**6262**

### Re: Non-linear Gauss-Seidel solver

Ok, I give it a try. :shock: We integrate the forces and velocities to find a new position p using some unstabilized method of choice. Given the new p we now want to find a correction dp such that C(p + dp) = 0 . We can approximate this as shown above by C(p + dp) ~= C(p) + J * dp = 0 We also want t...

- Thu May 04, 2017 3:52 am
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Non-linear Gauss-Seidel solver
- Replies:
**11** - Views:
**6262**

### Re: Non-linear Gauss-Seidel solver

No, there is nothing hacky about orthogonal projection. It is simply an alternativ to Baumgart'ish stabilization to keep your solution on the constraint manifold. The linked Hairer paper discusses projection methods in general and in the context of multibody simulation. The J is not stolen, it comes...

- Wed May 03, 2017 3:00 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Non-linear Gauss-Seidel solver
- Replies:
**11** - Views:
**6262**

### Re: Non-linear Gauss-Seidel solver

Short answer: J * M^-1 * J^T * lambda = -C This is the inner linear system in a Newton solver. The lambdas are now 'pushes' and get transformed into translations dx and rotations dq similar to impulses. After you applied the pushes the Jacobian and mass matrix (inertia) changes, so you need to rebui...