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From Particles to Rigid Bodies • Particles • Rigid bodies – No rotations – 6 DoFs (translation + rotation) – Linear velocity v only – Linear velocity v – 3N DoFs – Angular velocity ω COMP768- M.Lin Outline • Rigid Body Representation • Kinematics • Dynamics • Simulation Algorithm • Collisions and Contact Response COMP768- M.Lin Coordinate Systems Body Space • Body Space (Local Coordinate System) – Rigid bodies are defined relative to this system – Center of mass is the origin (for convenience) • We will specify body-related physical properties (inertia, …) in this frame COMP768- M.Lin Coordinate Systems World Space • World Space: rigid body transformation to common frame translation rotation COMP768- M.Lin
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