Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

Impulse-based Dynamic Simulation

Brian Mirtich and John F. Canny

EECS Department
University of California, Berkeley
Technical Report No. UCB/CSD-94-815
June 1994

http://www.eecs.berkeley.edu/Pubs/TechRpts/1994/CSD-94-815.pdf

We introduce a promising new approach to dynamic simulation called impulse-based simulation. The distinguishing feature of this method is the unification of all types of contact (colliding, rolling, sliding, and resting) under a single framework; non-colliding contacts are simulated as a series of tiny microcollisions. The approach is simpler and more robust than previous constraint-based methods. Simulation results agree with physical experiments, and the method is fast enough to make real time simulation possible. In the course of describing impulse-based simulation, we present an efficient collision detection scheduling scheme and a fully general treatment of frictional collisions. We conclude with some of the results generated by our simulator.


BibTeX citation:

@techreport{Mirtich:CSD-94-815,
    Author = {Mirtich, Brian and Canny, John F.},
    Title = {Impulse-based Dynamic Simulation},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {1994},
    Month = {Jun},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/1994/5494.html},
    Number = {UCB/CSD-94-815},
    Abstract = {We introduce a promising new approach to dynamic simulation called impulse-based simulation. The distinguishing feature of this method is the unification of all types of contact (colliding, rolling, sliding, and resting) under a single framework; non-colliding contacts are simulated as a series of tiny microcollisions. The approach is simpler and more robust than previous constraint-based methods. Simulation results agree with physical experiments, and the method is fast enough to make real time simulation possible. In the course of describing impulse-based simulation, we present an efficient collision detection scheduling scheme and a fully general treatment of frictional collisions. We conclude with some of the results generated by our simulator.}
}

EndNote citation:

%0 Report
%A Mirtich, Brian
%A Canny, John F.
%T Impulse-based Dynamic Simulation
%I EECS Department, University of California, Berkeley
%D 1994
%@ UCB/CSD-94-815
%U http://www.eecs.berkeley.edu/Pubs/TechRpts/1994/5494.html
%F Mirtich:CSD-94-815