Author: Charles BouchardPublisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
"This thesis contains two methods that improves rigid body physically based simulations. First,we present a new approach to modeling contact between rigid objects that augments an individualCoulomb friction point-contact model with rolling and spinning friction constraints.Starting from the intersection volume, we compute a contact normal from the volume gradient.We compute a contact position from the rst moment of the intersection volume, and approximatethe extent of the contact patch from the second moment of the intersection volume. Byincorporating knowledge of the contact patch into a point contact Coulomb friction formulation,we produce a 6D constraint that provides appropriate limits on torques to accommodate displacementof the center of pressure within the contact patch, while also providing a rotationaltorque due to dry friction to resist spinning. The second method presented in this thesis isfor adaptive computation of the active joint distribution inside a cable based on local information.A heuristic computes activation criteria for all joints based on user-dened parametersby extracting the velocities and accelerations of the joints and the previous activation state. Acollection of examples demonstrates the power and the benets of both methods." --
