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Contact Graphs in Multibody Dynamics Simulation

By Kenny Erleben

Abstract

Contact Graphs in Multibody Dynamics Simulation In rigid body simulation contact graphs are used detecting contact groups. Contact graphs provide an efficient underlying data structure for keeping information about the entire configuration and in this paper we extend their usage to a new collision detection phase termed “Spatial-Temporal Coherence Analysis”. This paper will review contact graphs and demonstrate the performance impact in a typical constraint based multibody simulator. CR Categories: I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling—Physically base

Topics: modeling, I.3.7 [Computer Graphics, Three-Dimensional Graphics and Realism—Animation, Keywords, Multibody Dynamics, Contact Graphs, Contact Groups, Contact Analysis, High Level Control
Year: 2009
OAI identifier: oai:CiteSeerX.psu:10.1.1.134.5732
Provided by: CiteSeerX
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