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Diplomarbeit / Master thesis
Rigid Body Dynamics: Triangle Meshes
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 arbitrary shape of
the rigid bodies is achieved by unions of geometric primitives, like for instance spheres,
boxes, capsules and planes. For the simulation of truely arbitrary geometries, the
physics engine has to be extended by triangle meshes.
The integration of triangle meshes involves a couple of necessary steps. The first task in
realizing triangle meshes is the formulation of a suitable data structure for the triangle
meshes. This data structure has to support large numbers of triangles and an efficient
update of the involved vertices in every time step. A second step is the import of a
triangle mesh from a file (STL, 3DS, ...). Depending on this input file format, several
problems may occur. For example, it may be possible that a triangle mesh is not closed and
therefore offers no possibility to calculate a center of mass and the moment of inertia. The
third step is the treatment of collisions between rigid bodies built from triangles and rigid
body primitives. This step requires the implementation of several special purpose functions to
handle for instance sphere-triangle, box-triangle, ... collisions. The last step is the
visualization of the triangle meshes in both the real-time visualization system and the POV-Ray
visualization.
The task of this thesis is the integration of triangle meshes into the pe
framework. This integration involves all the afore mentioned steps. Helpful for this task
is a preceeding thesis about a possible implementation of triangle meshes [1] and several
books about collision detection and treatment [2].
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:
Reserved
References:
[1] Martin Ketzer: Geometrieprimitive und Dreiecksgitter für die pe Physikengine,
Lehrstuhl für Systemsimulation, März 2007
[2] Christer Ericson: Real-Time Collision Detection, Morgan Kaufmann Series, ISBN: 1558607323
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