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Diplomarbeit / Master thesis
Rigid Body Dynamics: Links and Joints
Supervision:
Background:
The pe rigid body physics engine is a C++ framework for the physically
correct simulation of rigid bodies of arbitrary shape.
Currently, the pe physics engine offers rigid body motions only constraint
by the collision between rigid bodies. In order to simulate connected or linked rigid bodies
with several degrees of freedom with their own body frame, the engine has to be extended by
a new category of motion constraints: joints. There are several interesting types of
joints: ball joints, hinges, sliders, fixed joints and motor joints.
The task of this thesis is the integration of joints into the pe physics engine
framework. This task consists of evaluating the necessary extensions for the framework to be able
to effortlessly add more types of joints, the development of suitable data structures for general
joints and the demonstration of the suitability of the approach by implementing several of the
named joint types. Additionally, the implementation requires a thorough debugging and testing
to prove the correctness of the implementation.
Tasks:
- Integration of joint motion constraints into the pe framework
- Development and implementation of a general scheme to enable the easy integration of
other joint types
- Implementation of several example joints to demonstrate the suitability of the extension
- Development of suitable test scenarios to prove the correctness of the implementation
- Development of demonstration examples
Recommended knowledge:
- Advanced C++ programming
- Basic background in engineering and mechanics
Status:
Running
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