A method and apparatus for simulating dynamic contact of objects

摘要

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 minimised 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.