You need to use the outer product: v * transpose(v)bendaowei wrote: how -(r1.y i, r1.x j) * -(r1.y i, r1.x j)

becomes

[r1.y*r1.y -r1.x*r1.y]

[-r1.x*r1.y r1.x*r1.x] )

Code: Select all

```
[ r1.y] * [r1.y, -r1.x]
[-r1.x]
```

- Wed Apr 15, 2009 9:34 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Box 2D, revolute joint effect mass matrix
- Replies:
**2** - Views:
**1604**

You need to use the outer product: v * transpose(v)bendaowei wrote: how -(r1.y i, r1.x j) * -(r1.y i, r1.x j)

becomes

[r1.y*r1.y -r1.x*r1.y]

[-r1.x*r1.y r1.x*r1.x] )

Code: Select all

```
[ r1.y] * [r1.y, -r1.x]
[-r1.x]
```

- Wed Apr 15, 2009 9:22 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Limitations of modern realtime physics engines
- Replies:
**16** - Views:
**16957**

I wouldn't be surprised that such a study exist somewhere... The problem being searching it You will likely find many failures. I've never heard of this being successful. I know of at least one high profile game that intended to make floating point computations deterministic but failed. In the end ...

- Mon Apr 06, 2009 5:57 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Limitations of modern realtime physics engines
- Replies:
**16** - Views:
**16957**

So you want us to help you to develop some ideas that you won't share with us? That's a hard pill to swallow.WhiteDragon103 wrote:I have my own optimization concepts which I am implementing, but the last thing I'd want to do is reinvent the wheel. However, in case my ideas are original I'd like to keep them to myself.

- Thu Apr 02, 2009 9:03 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Bullet's Voronoi Simplex Solver
- Replies:
**46** - Views:
**36052**

Yeah, it would just be a potential performance increase to search all the Voronoi regions for the tetrahedron case. There is nothing wrong with the Bullet approach. I've been using a similar approach until recently. I did try some of Casey's optimizations, but they can fall apart when computing the ...

- Thu Apr 02, 2009 6:57 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Bullet's Voronoi Simplex Solver
- Replies:
**46** - Views:
**36052**

I'm now wondering if the geometric approach can obtain better accuracy if the winding order is known on the tetrahedron. For the tetrahedron we can compute the barycentric coordinates in two ways. Gino's version of Johnson's algorithm doesn't make use of the winding order and gives formulas like: la...

- Tue Mar 31, 2009 11:35 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Bullet's Voronoi Simplex Solver
- Replies:
**46** - Views:
**36052**

I like the compactness of the simplex solver in Solid 3.5.6, but I noticed that there are no early returns. For a given simplex, all determinants are computed. On the other hand Bullet and the gilbert.c solvers have many early returns, meaning that many computations can be skipped. Perhaps this is a...

- Mon Mar 30, 2009 4:23 am
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: GJK Warm Starting
- Replies:
**3** - Views:
**2541**

I've tried caching the simplex vertex indices to rebuild the simplex for warm starting. It works very well! In coherent scenarios GJK often converges with just one support point call. It also seems to produce a good guess when the cached simplex is non-optimal. Degeneracies are still possible. For e...

- Fri Mar 13, 2009 12:19 am
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: GJK Warm Starting
- Replies:
**3** - Views:
**2541**

I'm trying to reduce the iteration count in my GJK implementation when there is temporal coherence. The final search vector can be re-used as the initial search direction in the next call. With small frame-to-frame rotations (~10 degrees) this increases performance in my tests by 8-20%. However, the...

- Fri Nov 07, 2008 3:48 am
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Box resting after 1 iteration
- Replies:
**8** - Views:
**3178**

Are you accumulating the impulses? Are you clamping the accumulated impulse instead of the immediate impulse?

- Tue Sep 30, 2008 3:49 am
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Simulation of inextensible cloth
- Replies:
**9** - Views:
**5546**

Real cloth is not inextensible, so why should the simulation be inextensible?

I would only use an inextensible model/solver if it leads to a computational advantage. In this case it appears that there is a disadvantage.

I would only use an inextensible model/solver if it leads to a computational advantage. In this case it appears that there is a disadvantage.

- Wed Aug 20, 2008 9:18 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Critically Damped PD controller
- Replies:
**3** - Views:
**11160**

Here are some more details (check my work). MSD: http://en.wikipedia.org/wiki/Damping m * vDot + c * v + k * x = 0 w = sqrt(k/m), z = c / (2 * sqrt(k * m)) vDot = -2 * z * w * v - w * w * x xDot = v Implicit Euler: v2 = v1 - h * (2 * z * w * v2 - w * w * x2) x2 = x1 + h * v2 Substitute second into f...

- Wed Aug 20, 2008 5:41 pm
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: Critically Damped PD controller
- Replies:
**3** - Views:
**11160**

Box2D's soft distance constraint is using impulses rather than forces, hence the 1/h term. With a frequency/damping ratio model you just set the damping ratio to 1 to get critical damping. To use frequency + damping ratio, you need to know the effective mass. Here's how I derived the relationship be...

- Fri Jun 20, 2008 5:58 pm
- Forum: Links, Papers, Libraries, Demos, Movies, Comparisons
- Topic: PhD thesis on numerical methods for rigid bodies
- Replies:
**14** - Views:
**15339**

I'm interested in using the quaternion-based constraints that Claude outlines in his dissertation. Some of it is a bit confusing (he defines an attachment frame twice, etc). And some of the details are spread across the chapters, tucked away in long chains of proofs. Does anyone on this forum have e...

- Sat May 31, 2008 4:52 am
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: A new PGS solver
- Replies:
**19** - Views:
**9847**

given that the task is to find a set of active constraints that will solve the problem it would seem more logical and efficient to start with the simplest cases and increase the size of the system only if a solution has not been found? this should also avoid the redundant cases you mentioned i supp...

- Sat May 31, 2008 12:05 am
- Forum: Research and development discussion about Collision Detection and Physics Simulation
- Topic: A new PGS solver
- Replies:
**19** - Views:
**9847**

I took a look at this. Failure of enumeration only seems to occur infrequently. It seems to happen when the contact force and velocity are both zero at one of the two points. Round-off error creates small negative values that break the non-negativity tests. Therefore, we should use some tolerances t...