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The virtual erector set: dynamic simulation with linear recursive constraint propagation

Authors:

Peter Schröder,

David ZeltzerAuthors Info & Claims

ACM SIGGRAPH Computer Graphics, Volume 24, Issue 2

Pages 23 - 31

https://doi.org/10.1145/91394.91403

Published: 01 February 1990 Publication History

Abstract

We have implemented an algorithm for rigid body dynamics which unifies the advantages of linear recursive algorithms with the advantages of earlier linear algebra based constraint force approaches. No restriction is placed on the joints between links. The algorithm is numerically robust and can deal with arbitrary trees of bodies, including kinematic loops. Motion as well as force constraints on the dynamic behavior of any member of the linkage can be added easily. Through the use of spatial algebra notation---including our extension to account for spatial position---the mathematical expressions are simplified and more efficient to execute. The algorithm has been implemented on workstation class machines and performs at interactive speeds.

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Cited By

Andrews STeichmann MKry P(2017)Geometric Stiffness for Real-time Constrained Multibody DynamicsComputer Graphics Forum10.1111/cgf.1312236:2(235-246)Online publication date: 1-May-2017
https://dl.acm.org/doi/10.1111/cgf.13122
Weinstein RTeran JFedkiw R(2006)Dynamic Simulation of Articulated Rigid Bodies with Contact and CollisionIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2006.4812:3(365-374)Online publication date: 1-May-2006
https://dl.acm.org/doi/10.1109/TVCG.2006.48
Baraff DFujii J(1996)Linear-time dynamics using Lagrange multipliersProceedings of the 23rd annual conference on Computer graphics and interactive techniques10.1145/237170.237226(137-146)Online publication date: 1-Aug-1996
https://dl.acm.org/doi/10.1145/237170.237226
Show More Cited By

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The virtual erector set: dynamic simulation with linear recursive constraint propagation

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Published In

cover image ACM SIGGRAPH Computer Graphics

ACM SIGGRAPH Computer Graphics Volume 24, Issue 2

Mar. 1990

241 pages

ISSN:0097-8930

DOI:10.1145/91394

Editor:
Richard J. Beach
Xerox PARC, Palo Alto, CA

Issue’s Table of Contents

I3D '90: Proceedings of the 1990 symposium on Interactive 3D graphics
February 1990
271 pages
ISBN:0897913515
DOI:10.1145/91385
Chairman:
Michael J. Zyda
Naval Postgraduate School, Monterey, CA

Copyright © 1990 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Publication History

Published: 01 February 1990

Published in SIGGRAPH Volume 24, Issue 2

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Cited By

Andrews STeichmann MKry P(2017)Geometric Stiffness for Real-time Constrained Multibody DynamicsComputer Graphics Forum10.1111/cgf.1312236:2(235-246)Online publication date: 1-May-2017
https://dl.acm.org/doi/10.1111/cgf.13122
Weinstein RTeran JFedkiw R(2006)Dynamic Simulation of Articulated Rigid Bodies with Contact and CollisionIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2006.4812:3(365-374)Online publication date: 1-May-2006
https://dl.acm.org/doi/10.1109/TVCG.2006.48
Baraff DFujii J(1996)Linear-time dynamics using Lagrange multipliersProceedings of the 23rd annual conference on Computer graphics and interactive techniques10.1145/237170.237226(137-146)Online publication date: 1-Aug-1996
https://dl.acm.org/doi/10.1145/237170.237226
Beliveau YDal T(1994)Dynamic‐Behavior Modeler for Material Handling in ConstructionJournal of Computing in Civil Engineering10.1061/(ASCE)0887-3801(1994)8:3(269)8:3(269-285)Online publication date: Jul-1994
https://doi.org/10.1061/(ASCE)0887-3801(1994)8:3(269)
Stanley MColgate J(1993)Real time simulation of stiff dynamic systems via distributed memory parallel processorsProceedings of the 1993 IEEE Virtual Reality Annual International Symposium10.1109/VRAIS.1993.380744(456-462)Online publication date: 18-Sep-1993
https://dl.acm.org/doi/10.1109/VRAIS.1993.380744
Beliveau YDixit SDal TMorad A(1993)Multitask Motion Planning for Material Handling in ConstructionJournal of Construction Engineering and Management10.1061/(ASCE)0733-9364(1993)119:1(180)119:1(180-191)Online publication date: Mar-1993
https://doi.org/10.1061/(ASCE)0733-9364(1993)119:1(180)
Sacks E(1993)What's in a linkage? Review of: Glenn Kramer, solving geometric constraint systemsArtificial Intelligence10.1016/0004-3702(93)90074-L61:2(343-349)Online publication date: Jun-1993
https://doi.org/10.1016/0004-3702(93)90074-L
(1992)ReferencesPhysically-Based Modeling for Computer Graphics10.1016/B978-0-08-091644-6.50030-0(316-323)Online publication date: 1992
https://doi.org/10.1016/B978-0-08-091644-6.50030-0
Platt J(1992)A generalization of dynamic constraintsCVGIP: Graphical Models and Image Processing10.1016/1049-9652(92)90071-554:6(516-525)Online publication date: 1-Nov-1992
https://dl.acm.org/doi/10.1016/1049-9652%2892%2990071-5
Witkin AWelch WBaskett F(1990)Fast animation and control of nonrigid structuresProceedings of the 17th annual conference on Computer graphics and interactive techniques10.1145/97879.565650(243-252)Online publication date: 1-Sep-1990
https://dl.acm.org/doi/10.1145/97879.565650
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