Method and apparatus for simulating dynamic contact of objects
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United States of America Patent
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Apr 1, 2008
Grant Date -
Oct 31, 2002
app pub date -
Apr 24, 2002
filing date -
Apr 25, 2001
priority date (Note) -
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Abstract
Contact of rigid bodies is simulated with friction. A contact point is determined as a mid point between closest points on each body. An integrated relative velocity (IRV) vector is computed, and is minimized by applying forces to both bodies. If the IRV value exceeds a threshold the bodies are deemed to be sliding. Non-penetration constraint and friction values are determined in separate processes and the output of one is fed to the other.
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