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B站:Heskey0
相关的course:SIGGRAPH'20 Course: An Introduction to Physics-Based Animation
SIGGRAPH'22 Course: Contact and Friction Simulation for Computer Graphics (siggraphcontact.github.io)
Basics:
advanced topics:
there are three main paradigms for contact simulation
constraint based methods(很精确): constrained optimization
penalty based approaches: small abstract springs(也可以不使用弹簧) working between objects to keep them from overlapping. Hence, the springs "penalize" overlap.
impulse-based methods: contact between objects is conceptualized as sequences of micro-collisions
Notations in this note:
Notations:
流形优化方法求解约束问题
two types of constraint equations:
\(m\) constraint functions \(\phi(q)\in R^m\) implicitly define a manifold that is embedded in the \(n\)-dimensional space of the simulation degrees of freedom. We can instead formulate the constraint equations in terms of the velocities by computing the gradient of \(