Impulse-based simulation of rigid bodies

ABSTRACT

We introduce a promising new approach to rigid body dynamic simulation called impulse-based simulation. The method is well suited to modeling physical systems with large numbers of collisions, or with contact modes that change frequently. All types of contact (colliding, rolling, sliding, and resting) are modeled through a series of collision impulses between the objects in contact, hence the method is simpler and faster than constraint-based simulation. We have implemented an impulse-based simulator that can currently achieve interactive simulation times, and real time simulation seems within reach. In addition, the simulator has produced physically accurate results in several qualitative and quantitative experiments. After giving an overview of impulse-based dynamic simulation, we discuss collision detection and collision response in this context, and present results from several experiments.

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INDEX TERMS

Primary Classification:
  I. Computing Methodologies
  I.3 COMPUTER GRAPHICS
      I.3.5 Computational Geometry and Object Modeling
          Subjects: Physically based modeling

Additional Classification:
  I. Computing Methodologies
  I.3 COMPUTER GRAPHICS
      I.3.5 Computational Geometry and Object Modeling
          Subjects: Geometric algorithms, languages, and systems; Curve, surface, solid, and object representations

General Terms:
Algorithms, Measurement, Performance, Theory, Verification