Controlling Rigid Bodies with Dynamic Constraints
- Creators
- Barzel, Ronen
Abstract
We present a technique, "Dynamic Constraints," for controlling the positions and orientations of rigid bodies n computer graphics models. The technique addresses the issue of providing control over a physically-based model, in which the bodies' behavior is determined by simulation of Newton's Laws of Motion. The "Dynamic Constraints" technique allows the modeler to control the configuration of bodies in a model by specifying constraints which must be met and maintained, as the simulation unfolds. To meet the constraints, we introduce forces into the model; these "constraint forces" forces are applied to the bodies that are constrained. We use an inverse dynamics method to derive a linear "constraint-force equation," whose solution yields the values of the constraint forces. We continually solve the constraint-force equation during the simulation of a model, so that the bodies' behavior will be consistent with the constraints. This thesis is accompanied by a narrated 10 -minuted videotape, "Caltech Modeling Demos, 1987" that contains several animations demonstrating the "Dynamic Constraints" technique. This thesis additionally includes a glossary of terms relating to physically-based modeling and dynamic constraints.
Files
Name | Size | Download all |
---|---|---|
md5:ef3f8ce51fe34dee7902441481b09e22
|
10.7 MB | Preview Download |
md5:a5fb69767d18c4d7ed08fcad140b9af5
|
13.0 MB | Download |
Additional details
- Eprint ID
- 26704
- Resolver ID
- CaltechCSTR:1988.cs-tr-88-19
- Created
-
2001-04-24Created from EPrint's datestamp field
- Updated
-
2019-10-03Created from EPrint's last_modified field
- Caltech groups
- Computer Science Technical Reports