Rigid Body Simulation using LCP
Posted: Wed Feb 28, 2007 11:16 pm
This is a set of notes developed by Prof. Jeff Trinkle. Contact and friciton modelling is different from what game community using. The note is quite clear and its numerical example is illustrative. I hope it would help you understand Stewart-Trinkle, Anitescu-Potra time stepper.
The link:
http://www.cs.rpi.edu/~nguyeb2/docs/rigid_body_lcp.pdf
Thanks
The link:
http://www.cs.rpi.edu/~nguyeb2/docs/rigid_body_lcp.pdf
Thanks