Real-Time Physics Simulation Forum

@kalesony

I went through my backups and I can't seem to find that code. Really stinks that RPI killed all alumni pages.

What are you looking for? That part-seating applet wasn't doing Stewart-Trinkle timestepping. Are you looking for java code implementations of the Stewart-Trinkle timestepping?

I had no idea that rpi took down my old website. I'll try and track down that code from some old backups and post it here if I can find it. I don't have any of ngbinh's stuff though.

--Steve

AntonioMartini wrote: that specific example was based on a modified ST which includes bouncing. In a previous post it was mentioned a version of ST which includes bouncing...

Sorry about that, I should have read the previous posts more carefully.

i have the impression that approximating a triangle by a paraboloid is not a good enough approximation. We wouldn't be able to stack properly even simple boxes as the surface wouldn't be flat anymore. if LCP ST isn't able to solve cases like the ones described earlier, where potential contacts are ...

I'm a little confused where this discussion is going, or what else can be gained from it. It seems it has turned into a Stewart-Trinkle LCP versus Mirtich's (and variants of) impulse based methods. I know that isn't what I intended when I wrote that simple little demo java application. The point I w...

Stephen, I intentionally created that picture, because I'm very curious where the sphere ends. Although there is no bounce, is there ANY motion in the plane? Can you try it again, without simplification. Just assume zero friction. There will be motion in the plane. For this simple example, it will ...

Could you edit this picture, and draw where your approach puts the red sphere at the end of the timestep? Ok. To simplify the image, I made the sphere's velocity perpendicular to the edge. I did this so we don't have to worry about friction. http://www.cs.rpi.edu/~sberard/one-step.png The unconstra...

What kind of motion does your implementation of ST LCP assume/use? If the loop is like: 0) calculate feature-pair distances 1) setup LCP that calculates impulses so the updated position will not be in penetration 2) apply impulses/update velocities (from LCP results) 3) update positions Then the up...

Is this at the beginning of the timestep (T0) or at the end? Beginning, T0 Can you also explain it in terms of my picture with the red and green spheres? Yes and no. If we are assuming a linear system, then your spheres would be approximated by a large number of polyhoderon. Then you would have a s...

You description is still vague to me. Hi, I'm the colleague mentioned by ngbinh. I'll try to clarify the contact information required by the stewart-trinkle formulation by a simple 2D polygon example. http://www.cs.rpi.edu/~sberard/collision.png In this example, we see that at least 5 "contact...