Contact dispatching
Posted: Fri Jul 29, 2005 3:07 pm
I am aware of three methods to handle contacts in an interactive environment.
1) The LCP formulation
2) The Impuls Based Method like described by Mirtich
3) And the Propagation method (penalty forces/impulses) like implemented in Bullet by Erwin and described in D. Baraffs paper.
My first question is how do method 2) and 3) work with articulated structures where I describe the joints like in classcial constrained dynamics (J*v = 0).
My second question is what your experiences are. When does the LCP works well and when the impulse based - maybe somebody likes to share his experience. In our current game we have contact / joint ratios of about 5000 / 20. So I wonder if one of these methods should be prefered in the presence of a great number of contacts?
Regards,
-Dirk
1) The LCP formulation
2) The Impuls Based Method like described by Mirtich
3) And the Propagation method (penalty forces/impulses) like implemented in Bullet by Erwin and described in D. Baraffs paper.
My first question is how do method 2) and 3) work with articulated structures where I describe the joints like in classcial constrained dynamics (J*v = 0).
My second question is what your experiences are. When does the LCP works well and when the impulse based - maybe somebody likes to share his experience. In our current game we have contact / joint ratios of about 5000 / 20. So I wonder if one of these methods should be prefered in the presence of a great number of contacts?
Regards,
-Dirk