| Summary: | We present techniques for constructing an interactive rigid body simulation system,
and describe our implementation such a system. We use a constraint-based
simulation approach, incorporating a time stepping method which handles multiple
contacts with friction in a general way.
We describe a method for constraint stabilization for simulations with contact.
The method is based on the post-stabilization methods of Ascher and Chin,
but is formulated as a linear complementarity problem, allowing us to solve for the
stabilization step when there are redundant inequality (contact) constraints.
As an application of our simulation software, we present a method for human
character animation where motion capture data is used to drive a rigid body
simulation. This allows physical constraints and forces acting on the character to
be taken into account. === Science, Faculty of === Computer Science, Department of === Graduate
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