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Rigid body collisions
Supervision:
Background:
The treatment of collisions in a rigid body simulation is a challenging task. The derivation
of feasible contact forces and impulses still is the main research topic in this simulation
field. The pe rigid body physics engine currently uses a force-acceleration
approach for frictionless bodies to deal with collisions and contact forces. Although the
extension of this approach for simulations with friction is straightforward, this method is
not able to guarantee feasible solutions for dynamic friction and is computationally expensive.
The goal of this thesis is the implementation of an impulse-velocity based collision approach
to compare both the physical and the computational aspects to the current implementation. One
possible solution is presented in a paper by Kaufman, Edmunds and Pai
(Link)
which demonstrates the features of this simulation approach. The focus of this thesis is the
implementation in C++ and the extension of the pe physics engine.
Tasks:
- Implementation of a new collision model for the pe physics engine
- Performance and memory optimization of the C++ implementation
- Comparison to the current collision model
- Development of demonstration examples
Recommended knowledge:
- Advanced C++ programming
- Good background in technical mechanics
- 3D-imagination
- Experiences in computer graphics
Status:
Finished
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