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ID:7993681
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时间:2018-03-03
《baraff coping with friction for nonpenetrating rigid body simulation外语英文电子书》由会员上传分享,免费在线阅读,更多相关内容在教育资源-天天文库。
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
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