1.1 Dynamics Algorithms (动力学算法): 刚体的动力学系统描述了刚体的运动(位置,速度,加速度)与施加在系统上的合外力的关系。而动力学算法则是被用于计算与动力学相关的量。我们所关心的动力学算法有如下两种: Forward Dynamics: 给定合外力,计算刚体系统的加速度反馈。 Inverse Dynamics: 给定刚体系统的加速度反馈...
Rigid Body Dynamics 在本章中,我们将介绍一些主题,一旦您熟悉了设置基本的刚体模拟世界,这些主题也很重要。 Velocity 刚体的运动分为线性和角速度(linear and angular velocity)分量。在仿真过程中, PhysX 将根据重力(gravity)、其他施加的力(other applied forces)和扭矩(torques)以及各种约束(如碰撞或joint)来修改...
Equation of translational motion of a rigid bodyEuler anglesEuler axis and principal angleEuler equations of motionInertia tensorPrincipal mass moments of inertiaQuaternionsRotational kinetic energyOrbital Mechanics for Engineering Studentsdoi:10.1016/B978-0-12-824025-0.00011-8Howard D. Curtis...
然后可以使用body.getLinearVelocity() + deltaLinearVelocity计算预测的线速度,而预测的角速度可以使用body.getAngularVelocity() + deltaAngularVelocity来计算。如果需要,可以使用body.setLinearVelocity(body.getLinearVelocity() + deltaLinearVelocity)和body.setAngularVelocity(body.getAngularVelocity() + deltaAngularVelocit...
刚体动力学(Rigid Body Dynamics) 任 程 本文的内容由作者翻译整理了 Brian Vincent Mirtich 博士毕业论文" Impulse- based dynamic simulation of rigid body systems,1996 "的附录而来. 本文并不系统讲解刚体动力学,却旨在提纲挈领的...
For two-dimensional rigid body dynamics problems, the body experiences motion in one plane, due to forces acting in that plane. A general rigid body subjected to arbitrary forces in two dimensions is shown below. The full set of scalar equations describing the motion of the body are: Where:...
A comprehensive collection of the best rigid-body dynamics algorithms Use of spatial (6D) vectors to greatly reduce the volume of algebra, to simplify the treatment of the subject, and to simplify the computer code that implements the algorithms Algorithms expressed both mathematically and in pseudoc...
刚体动力学(Rigid Body Dynamics ) 任 程 本文的内容由作者翻译整理了Brian Vincent Mirtich 博士毕业论文“Impulse- based dynamic simulation of rigid body systems,1996 ”的附录而来。 本文并不系统讲解刚体动力学,却旨在提纲挈领的讲解在学习刚体动力学 (Rigid Body Dynamics)的过程中的几个十分关键的问题。其...
本文讲解刚体动力学(Rigid Body Dynamics)学习过程中的几个关键问题。其中1节介绍向量、矩阵在不同坐标系下的转换及其作用,2节介绍用矩阵表示的向量叉积并利用其表述矩阵的求导计算,3节利用1、2节的内容导出实用的牛顿-欧拉动力学公式。
In physics, rigid body dynamics is the study of the motion of rigid bodies. Unlike particles, which move only in three degrees of freedom (translation in three directions), rigid bodies occupy space and have geometrical properties, such as a center of mass, moments of inertia, etc., that ...