Method and apparatus for simulating dynamic contact of objects
AssigneeTelekinesys Research Limited
InventorsOliver Strunk, Thomas Liss, Oliver Gross
Life of this patent
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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 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.
Claims13
A method carried out by a simulator for simulating contact of rigid body objects, at discrete intervals of time, the method comprising the steps of:-
- determining non-penetration constraint and friction values in separate processes, and
- feeding back the output of each process as an input to the other process.
A simulator comprising means for performing a method as claimed in any preceding claim.
Dependencies are inferred from the claim text.