Rigid Body Simulation Using PGS

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原文链接：http://www.cnblogs.com/AdamGamer/archive/2007/10/07/916042.html

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#matlab

本文介绍了从能量函数推导关节雅可比矩阵的方法，并讨论了使用Erin Catto的迭代方法——投影高斯赛德尔（PGS）及其改进版投影SOR进行关节求解的过程。此外还提到了适用于接触问题的顺序脉冲方法。

Joint's Jacobian Matrix is derived from Energy Function[1], for joint solver I followed Erin Catto’s iterative method called Projected Gauss Seidel (PGS) [2] with some modification, call it Projected SOR with prediction and correction to make it more stable for stiff joint.
Erin Catto’s Sequential Impulse[3], which is more suitable for contact, is mathematically equivalent to PGS, and is not implemented current.
Reference
[1] David Barraf. Physic Based Modeling Course Note
[2] Erin Catto. Iterative Dynamic
[3] Erin Catto. GDC2007 Modeling and Solving Constraints

转载于:https://www.cnblogs.com/AdamGamer/archive/2007/10/07/916042.html