Physics Simulation UCSD Computer Graphics Lab物理模拟研究计算机图形学实验室.pptVIP

Physics Simulation CSE 191A: Seminar on Video Game Programming Lecture 4: Physics Simulation UCSD, Spring, 2003 Instructor: Steve Rotenberg Physics Simulation Particles Rigid bodies Deformable bodies Fluid dynamics Vehicle dynamics Characters Definitions Kinematics: The study of motion without consideration of the underlying forces Dynamics: Study of physical motion (or more abstractly, the study of change in physical systems) Forward Dynamics: Computing motion resulting from applied forces Inverse Dynamics: Computing forces required to generate desired motion Mechanics, Statics, Kinetics Particles Kinematics of Particles Position x Velocity v = dx/dt Acceleration a = dv/dt = d2x/dt2 Motion Under Uniform Acceleration Acceleration a=a0 Velocity Position Mass Momentum Mass m Momentum p = mv Force f = dp/dt = m(dv/dt) = ma Forces Forces cause change in momentum (accelerations) Multiple forces can add up to a single total force: Newton’s Laws 1. A body at rest tends to stay at rest, and a body in motion tends to stay in motion, unless acted upon by some force. 2. Forces lead to changes in momentum and therefore accelerations: f=ma 3. Every action has an equal and opposite reaction. fij=-fji Gravity Gravity near Earth’s surface is constant: f=mg (g = -9.8 m/s2) Gravity for distant objects: f=Gm1m2/r2 (G=6.673×10-11 m3/kg·s2) Particle Simulation UpdateParticle(float time) { Force=ComputeTotalForce(); Momentum=Momentum+Force*time; Velocity=Momentum/Mass; Position=Position+Velocity*time; } Integration Explicit Euler method: v=v0+aΔt x=x0+vΔt Many other methods: Implicit Euler Runge-Kutta Adams, Adams-Moulton, Adams-Bashforth Crank-Nicholson Multipoint Leapfrog DuFort-Frankel Simulation Issues Stability Accuracy Convergence Performance Forces Spring-Damper Spring-damper: f=-kx-cv k=spring constant x=distance from rest state c=damping factor v=velocity along spring axis Aerodynamic Drag Drag force: f=(1/2)ρaccdv2 ρ=fluid density ac=cross sect