Brian Mirtich and John F. Canny

EECS Department, University of California, Berkeley

Technical Report No. UCB/CSD-94-815

1994

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.

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BibTeX citation:

@techreport{Mirtich:CSD-94-815,
    Author= {Mirtich, Brian and Canny, John F.},
    Title= {Impulse-based Dynamic Simulation},
    Year= {1994},
    Month= {Jun},
    Url= {http://www2.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://www2.eecs.berkeley.edu/Pubs/TechRpts/1994/5494.html
%F Mirtich:CSD-94-815