Automatic motion modeling of rigid bodies using collision detection

摘要

An algorithim for modeling the interaction of two colliding rigid objects. The algorithm allows the search of the optimal position and stabilization of two rigid objects when they are in contact due to a force pushing them against each other. The method does use mathematical integration and does not use any initial acceleration or speed conditioning for the results. The pushing direction can be changed at any time of the search for a correct specification. The moving solid is translated and rotated incrementally toward the equilibrium position and orientation in a non-natural way but leading to the same final attitude in a large range of initial conditions. One important novelty of this algorithm is the modeling of rotations involved for the moving object to go toward the natural position and orientation it should adopt. This can be done by the detection of torque during the search and the determination of the center of rotation in a quadratic time. Modeling software can use this algorithm to build animation of an object falling against another along a specific direction by displaying the objects at specific conditions. Biomedical modeling software can use this algorithm to model the kinematic motion of a joint by applying the algorithm on the range of the different degrees of freedom.