Computer simulation of body dynamics including a solver that solves in linear time for a set of constraints

摘要: Computer simulation of the dynamics rigid bodies interacting through collisions, stacks and joints is performed using a constraint-based system in which constraints are defined terms positions bodies. Displacements caused by reaction forces necessary to ensure that comply with position can be calculated done iteratively updating equations defining displacements such computation time memory resources required perform calculations linearly dependent upon number contacts between