Interactive rigid body manipulation with obstacle contacts

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dc.contributor.authorBuck, Matthias
dc.contributor.authorSchömer, Elmar
dc.contributor.editorSkala, Václav
dc.date.accessioned2015-09-22T09:23:12Z
dc.date.available2015-09-22T09:23:12Z
dc.date.issued1998
dc.description.abstract-translatedThe interactive manipulation of rigid objects in virtual reality environments requires an object behaviour which is at least physically plausible to be useful for applications like interactive assembly simulation or virtual training. Physically plausible behaviour implies that collisions between simulated solid objects are taken into account, and that the motion of objects with obstacle contacts can be controlled without force feedback mechanisms in an intuitively correct manner. We present a real-time framework which enables the simulation of interactively controlled solid objects with a dynamically changing set of contact constraints. In this paper, all contact configurations are replaced by a canonical set of point contacts, which is updated dynamically. The basic step to determine the contact forces and the object motion consists in the solution of a non-linear complementarity problem (NCP), which results from the unilateral contact conditions together with an adequate discretization of the corresponding diferential equations of motion.en
dc.format8 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.citationJournal of WSCG. 1998, vol. 6, no. 1-3.en
dc.identifier.issn1213-6972 (print)
dc.identifier.issn1213-6980 (CD-ROM)
dc.identifier.issn1213-6964 (online)
dc.identifier.urihttp://hdl.handle.net/11025/15844
dc.identifier.urihttp://wscg.zcu.cz/wscg1998/wscg98.htm
dc.language.isoenen
dc.publisherVáclav Skala - UNION Agencycs
dc.relation.ispartofseriesJournal of WSCGen
dc.rights© Václav Skala - UNION Agencycs
dc.rights.accessopenAccessen
dc.subjectvirtuální realitacs
dc.subjectsimulace pohybucs
dc.subjectomezení kontaktucs
dc.subjectnelineární komplementární problémcs
dc.subjectNCP funkcecs
dc.subjectNewtonovo opakovánícs
dc.subject.translatedvirtual realityen
dc.subject.translatedmotion simulationen
dc.subject.translatedcontact constraintsen
dc.subject.translatednon-linear complementarity problemen
dc.subject.translatedNCP-functionsen
dc.subject.translatedNewton iterationen
dc.titleInteractive rigid body manipulation with obstacle contactsen
dc.typečlánekcs
dc.typearticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen

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Volume 6, number 1-3 (1998)