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Lectures, notes and readingCourse introductionIntroduction of lecturers/assistants. Purpose and goals of the coarse. Schedule, assignments, project. History, applications and trends. See the rest of the course web for documentation about the course itself. Basic layout of a physics engine and it's connection to graphics.
Suggested reading (not mandatory, but enlightening.. :-)
Introductory physics based simulationReview of basic concepts from physics and numerical simulation. Rigid bodies I Basic concepts of rigid body physics (notation, laws of motion, conservation laws, constraints, etc) are dealt with in this lecture. Suggested reading
Paper by Claude about "Stabilizing gyroscopic Forces in Rigid Multibody Simulations" (to be published in the proceedings of PDE methods in computer graphics. We'll put it here when it is ready..). Rigid bodies II Intersection tests/finds, broad range/narrow range, basics
physics of collisions and contacts. <>Slides (PDF)Rigid bodies III Box-box intersection finds. Some more physics of
collisions/contacts/friction. Systematic formulation of multi-body
system with contacts. Methods based on penalty potentials, algebraic
constraints and impulse transfer. Solver strategies, in particular
Gauss-Seidel iterations. Rigid bodies IV Newton-Coulomb impulse method. Sequential iterative impulse resolution method and shock propagation. Penalty based rigid body dynamics. Presentation of lab project (1.3 box-stacking) Particle systems Simulation of particles. Simple particle systems for special effects, as well as the principles for interacting particle systems for advanced simulation of complex materials. Rendering methods. Elasticity Basic theory of elasticity. Deformable and plastic bodies Methods for interactive simulation of deformable bodies and plasticity. Constrained systems General theory for constrained systems. Holonomic and non-holonomic constraints. The Jacobian. Constraint limits. Motors and driven constraints. Examples of named constraint types. LCP formulation. Cloth Models for simulating cloth. From spring and damper systems, to rigid body cloth with dedicated constraints and solvers. Fluids, gases and complex materials Smoothed Particle Hydrodynamics for simulation of viscous
fluids and complex materials. Biomechanics Ragdolls, robotics and natural motion of simulated characters and animals. Vehicle Dynamics From simple ray casting wheels to advaced vechicles dynamics, with drive trains, car-wheel constraints, tracks, wheel-ground interaction, stick-slip and friction models.
Uppdaterad
2005-08-25 14:30 Av Kenneth
Bodin
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