三维空间中凸多刚体实时运动仿真

将计算机科学与理论力学相结合,介绍了多刚体运动仿真的步骤和方法。首先论述了单个及多个刚体的运动仿真步骤以及应用叠加原理计算合力及合力矩的方法。然后,针对刚体运动中的不同碰撞响应类型:碰撞接触与临时接触,分别建立不同的碰撞响应力学模型,前者运用恢复系数理论和动量、动量矩定理建立响应模型,后者通过分析刚体的受力和运动状态建立相应的动力学模型。最后,讨论了该方法的局限性以及适用的范围。

Real-time Motion Simulation of 3D Convex Rigid Bodies

Computer science was combined with theoretical mechanics to introduce the approach of motion simulation of convex rigid bodies. First, the steps of motion simulation of the single and multi rigid bodies and the method of computing resultant forces and moments with superposition principle were stated. Second, to the different type of the collision response of rigid body: collision contact and temporary contact, the different mechanical models were built. For the former, the model of response was built by impact coefficient, momentum and angular momentum theorem; for the latter, the dynamical model was built by analyzing the mechanics and motion of rigid body. Last, the insufficiency and applicability of the method were discussed.