RigidBodyDynamics(II).pptVIP

Rigid Body Dynamics (II) COMP259 March 30, 2006 Nico Galoppo von Borries Bodies intersect ! classify contacts Bodies separating vrel ? No response required Colliding contact (Last time) vrel -? Resting contact (Today) -? vrel ? Gradual contact forces avoid interpenetration All resting contact forces must be computed and applied together because they can influence one another Resting Contact Response Handling of Resting Contact Global vs. Local Methods Constraint-based vs. Impulse-based Colliding Contacts Resting Contacts Force application Friction Impulse vs. Constraint Impulse-based dynamics (local) Faster Simpler No explicit contact constraints Constraint-based dynamics (global) Must declare each contact to be a resting contact or a colliding contact Impulse vs. Constraint Impulse-based dynamics (local) Constraint-based dynamics (global) Impulse vs. Constraint Resting Contact Response The forces at each contact must satisfy three criteria Prevent inter-penetration: Repulsive -- we do not want the objects to be glued together: Should become zero when the bodies start to separate: To implement hinges and pin joints: Resting Contact Response We can formulate using LCP: Linear Complimentary Problem (LCP) Need to solve a quadratic program to solve for the fi’s General LCP is NP-complete problem A is symmetric positive semi-definite (SPD) making the solution practically possible There is an iterative method to solve for without using a quadratic program [Baraff, Fast contact force computation for nonpenetrating rigid bodies ] Linear Complimentary Problem (LCP) In general, LCP can be solved with either: pivoting algos (like Gauss elimination) they change the matrix do not provide useful intermediate result may exploit sparsity well iterative algos (like Conjugate Gradients) only need read access to matrix can stop early for approximate solution faster for large matrices can be warm started (ie. from previous result) Global vs. local? Global LCP formulation c