baraff coping with friction for nonpenetrating rigid body simulation外语英文电子书

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1、@@ComputerGraphics,Volume25,Number4,July1991CopingwithFrictionforNon-penetratingRigidBodySimulationDavidBaraffProgramofComputerGraphicsCornellUniversityIthaca,NY14853Abstractbodiesarenotcollidingatanycontactpoint.Norestrictionisplacedontbeallowableslidingmotionbetweenbodie

2、satcontactAlgorithmsandcomputationalcomplexitymeasuresforsimulatingthemotionofcontactingbodieswithfrictionarepoints.Forcesatcontactpointsareclassifiedaseithernormalorfric[ionforces.Normalforcespreventinter-penetrationbyactingpresented.Thebodiesarerestrictedtobeperfectlyrig

3、idbodiesperpendicularlytothecontac!surfaces.Friclionforcesactthatcontactatfinitelymanypoints.Contactforcesbetweentangentiallytothecontactsurfacesandopposeslippingmotion.bodiesmustsatisfytheCoulombmodeloffriction.AtraditionalThefrictionforceatacontactpointiscalleddynamicfri

4、ctionifprincipleofmechanicsisthatcontactforcesareimpulsiveifandthetwobodiesareslippingatthecontactpoint;otherwise,theonlyifnon-impulsivecontactforcesareinsufficienttomaintainfrictionforceiscalledstaticfriction.Thecontactforces(thenor-thenon-penetrationconstraintsbetweenbod

5、ies.Whenfrictionismalandfrictionforces)mustsatisfytheCoulombmodeloffric-allowed,itisknownthatimpulsivecontactforcescanbeneces-tion.TheCoulombmodeloffrictionisawellacceptedempiricalsaryevenintheabsenceofcollisionsbetweenbodies.Thispaperrelationshipbetweenthenormalandfrictio

6、nforceatacontactshowsthatcomputingcontactforcesaccordingtothistraditionalpoint.principleislikelytorequireexponentialtime.AnanalysisofthisresultrevealsthattheprincipleforwhenimpulsescanoccuristooAnimportantfirststeptocopingwithtbeproblemsoffric-restrictive,andanaturalreform

7、ulationoftheprincipleispro-tionisunderstandingthesimulationbehaviorspecifiedbytheposed.Usingthereformulatedprinciple,analgorithmwithCoulombmodeloffriction.Weneedtoknowbotbwhatkindofexpectedpolynomialtimebehaviorforcomputingcontactforcesresultthemodelspecifiesandthedegreeof

8、difficultyincomput-ispresented.ingthatresult.Whencomputingcontactforces,aprincipleofratio