Precomputed

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Precomputed
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Solving for j
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Equality Constraint
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Computing f based on the change of the
acceleration at Pa
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Conditions on the constraint force

• Avoid inter-penetration
• distance between two contact points gt 0
• Repulsive forces
• Zero values if contact breaks

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Rest contact
Separating
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Non-penetration
Repulsive
Zero value if contact breaks
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Dynamic Simulation Software

• Open Dynamics Engine (ODE)
• Open source library for simulating rigid body
  dynamics
• Supports joints, collision detection, and
  friction
• Coriolisrigid body dynamics engine in Maya

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Video Jovan Popovic, Steven M. Seitz, Michael
Erdmann, Zoran Popovic, Andrew Witkin
Interactive Manipulation of Rigid Body
Simulations SIGGRAPH 2000