Primal/Dual Descent Methods for Dynamics

We examine the relationship between primal, or force‐based, and dual, or constraint‐based formulations of dynamics. Variational frameworks such as Projective Dynamics have proved popular for deformable simulation, however they have not been adopted for contact‐rich scenarios such as rigid body simul...

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Vydané v:	Computer graphics forum Ročník 39; číslo 8; s. 89 - 100
Hlavní autori:	Macklin, M., Erleben, K., Müller, M., Chentanez, N., Jeschke, S., Kim, T.Y.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Oxford Blackwell Publishing Ltd 01.12.2020
Predmet:	CCS Concepts Computer systems organization → Robotics Computing methodologies → Simulation by animation contact Contact force Deformation Formability friction Interactive simulation Mathematical analysis Numerical analysis numerical optimization Rigid structures robotics Simulation Trajectory optimization
ISSN:	0167-7055, 1467-8659
On-line prístup:	Získať plný text
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