OverviewClass #4 (Tues, Jan 28)

• Rigid body dynamics

• Assignment #1• Constrained Particle Systems (Baraff & Witkin)

• Grading: • Assignments 40%• Project 50%• Presentation 10%

Assn #1: Baumgarte Stabilization

• For single particle (scalar) case…

Assn #1: Baumgarte Stabilization

• For particle system (vector) case…

Rigid Body Dynamics

Examples from David Baraff

Rigid Body Dynamics

• Videos (Havok)

Baraff & Witkin Notes

• Read “Rigid body dynamics” course notes• Rigid Body Dynamics • Collision and Contact

Next Class…

• Rigid body contact

• Graphics literature

• Constraint formulation• Lagrangian• Reduced coordinate

• Cool applications!