Dynamic simulations of multibody systems:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
New York ; Berlin ; Heidelberg ; Barcelona ; Hong Kong ; London
Springer
2001
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturverz. S. 367 - 374 |
| Beschreibung: | XV, 379 S. graph. Darst. : 25 cm |
| ISBN: | 038795192X |
Internformat
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Datensatz im Suchindex
| _version_ | 1804128747666800640 |
|---|---|
| adam_text | MURILO G. COUTINHO DYNAMIC SIMULATIONS MULTIBODY; WITH 148 ILLUSTRATIONS
SPRINGER CONTENTS PREFACE VII 1 COMPUTATIONAL DYNAMICS 1 1.1
INTRODUCTION 1 1.2. PARTICLE AND RIGID-BODY SYSTEMS 2 1.3 DYNAMIC
SIMULATION ENGINES 3 1.4 A COMPUTATIONALLY EFFICIENT IMPLEMENTATION 7
1.4.1 INTERFACE WITH THE RENDERING ENGINE 7 1.4.2 MOVING THE OBJECTS 10
1.4.3 CHECKING FOR COLLISIONS 11 1.4.4 RESPONDING TO COLLISIONS 12 1.5
GUIDE TO READERS 14 2 HIERARCHICAL REPRESENTATION OF 3D POLYHEDRA 17 2.1
INTRODUCTION 17 2.2 HIERARCHICAL REPRESENTATION OF OBJECTS 19 2.2.1
AXIS-ALIGNED BOUNDING BOXES 20 2.2.2 ORIENTED BOUNDING BOXES 22 2.2.3
BOUNDING SPHERES 25 2.2.4 CONVEX HULL 27 2.3 HIERARCHICAL REPRESENTATION
OF THE SIMULATED WORLD ; . . . 32 2.3.-1 UNIFORM GRID 33 2.3.2
MULTI-LEVEL GRID 37 XII CONTENTS 2.4 COLLISION DETECTION BETWEEN
DIFFERENT HIERARCHICAL REPRE- SENTATIONS 42 2.4.1 COMPUTING BOX-BOX
INTERSECTIONS 42 2.4.2 COMPUTING SPHERE-SPHERE INTERSECTIONS 45 2.4.3
COMPUTING TRIANGLE-TRIANGLE INTERSECTIONS 46 2.4.4 POINT-IN-TRIANGLE
TEST 49 2.4.5 COMPUTING BOX-SPHERE INTERSECTIONS 51 2.4.6 COMPUTING
BOX-TRIANGLE INTERSECTIONS 52 2.4.7 COMPUTING SPHERE-TRIANGLE
INTERSECTIONS 53 2.4.8 COMPUTING LINE SEGMENT-SPHERE INTERSECTIONS ...
54 2.4.9 COMPUTING LINE SEGMENT-TRIANGLE INTERSECTIONS ... 55 2.5 NOTES
AND COMMENTS 57 3 PARTICLE SYSTEMS 61 3.1 INTRODUCTION 61 3.2 PARTICLE
DYNAMICS 63 3.3 INTERACTION FORCES 68 3.3.1 GRAVITY 69 3.3.2 VISCOUS
DRAG 69 3.3.3 DAMPED SPRINGS 70 3.3.4 SPATIALLY DEPENDENT FORCES 71
3.3.5 USER INTERACTION 76 3.4 COLLISION DETECTION: OVERVIEW 76 3.4.1
PARTICLE-PARTICLE COLLISION 78 3.4.2 PARTICLE-RIGID BODY COLLISION 81
3.5 COLLISION-DETECTION IMPLEMENTATION . . . 86 3.5.1 COMPUTING
CYLINDER-CYLINDER INTERSECTIONS 87 3.5.2 COMPUTING CYLINDER-BOX
INTERSECTIONS . 90 3.5.3 COMPUTING CYLINDER-SPHERE INTERSECTIONS 94
3.5.4 COMPUTING CYLINDER-TRIANGLE INTERSECTIONS 97 3.5.5
POINT-IN-CYLINDER TEST . 105 3.6 PARTICLE-PARTICLE COLLISION RESPONSE
106 3.6.1 COMPUTING IMPULSIVE FORCES FOR A SINGLE COLLISION . 107 3.6.2
COMPUTING IMPULSIVE FORCES FOR MULTIPLE SIMULTANE- OUS COLLISIONS 115
3.6.3 COMPUTING CONTACT FORCES FOR A SINGLE CONTACT . . . 120 3.6.4
COMPUTING CONTACT FORCES FOR MULTIPLE CONTACTS . . 129 3.7
PARTICLE-RIGID BODY COLLISION RESPONSE 134 3.7.1 COMPUTING IMPULSIVE
FORCES 136 3.7.2 COMPUTING CONTACT FORCES 137 3.8 PARTICLE EMITTER 138
3.8.1 USER-DEFINABLE PARAMETERS 140 3.9 SPECIALIZED PARTICLE SYSTEMS 142
3.9.1 USER-ADJUSTABLE PARAMETERS 143 3.9.2 OVERVIEW OF CLOTH SIMULATION
146 CONTENTS XIII 3.10 NOTES AND COMMENTS . . . 152 RIGID-BODY SYSTEMS
, 155 4.1 INTRODUCTION *. .... 155 4.2 RIGID-BODY DYNAMICS 156 4.3
INTERACTION FORCES 165 4.3.1 GRAVITY 165 4.3.2 , VISCOUS DRAG 166 4.3.3
DAMPED SPRINGS 167 4.3.4 USER-INTERACTION FORCES 167 4.4 COLLISION
DETECTION : . . . . 168 4.5 COLLISION DETECTION BETWEEN NON-CONVEX
BODIES 172 4.6 COLLISION DETECTION BETWEEN CONVEX BODIES 174 4.7 THE
VORONOI CLIP ALGORITHM 174 4.7.1 FEATURE 6 2 IS A VERTEX 178 4.7.2
FEATURE B 2 IS AN EDGE 179 4.7.3 FEATURE B 2 IS A FACE 193 4.7.4 DEALING
WITH INTERPENETRATION 193 4.7.5 AVOIDING LOCAL MINIMA 193 4.7.6 THE GJK
ALGORITHM 195 4.7.7 TERMINATION CONDITION 203 4.8 RIGID BODY-RIGID BODY
COLLISION RESPONSE 204 4.8.1 COMPUTING IMPULSIVE FORCES FOR A SINGLE
COLLISION . 205 4.8.2 COMPUTING IMPULSIVE FORCES FOR MULTIPLE COLLISIONS
218 4.8.3 COMPUTING CONTACT FORCES FOR A SINGLE CONTACT . . . 225 4.8.4
COMPUTING CONTACT FORCES FOR MULTIPLE CONTACTS . . 234 4.9
PARTICLE-RIGID BODY CONTACT REVISITED 238 4.10 NOTES AND COMMENTS 242
ARTICULATED RIGID-BODY SYSTEMS 245 5.1 INTRODUCTION 245 5.2 ARTICULATED
RIGID-BODY DYNAMICS 247 5.3 COLLISION DETECTION 253 5.4 COLLISION
RESPONSE 256 5.4.1 COMPUTING IMPULSIVE FORCES FOR SINGLE OR MULTIPLE
EXTERNAL COLLISIONS 258 5.4.2 COMPUTING CONTACT FORCES FOR SINGLE OR
MULTIPLE EX- TERNAL CONTACTS 260 5.5 NOTES AND COMMENTS 262 USEFUL 3D
GEOMETRIC CONSTRUCTIONS 265 A.I INTRODUCTION 265 A.2 PROJECTION OF A
POINT ON A LINE 266 A.3 PROJECTION OF A POINT ON A PLANE 266 A.4
INTERSECTION OF A LINE SEGMENT AND A PLANE 267 XIV CONTENTS A.5 CLOSEST
POINT BETWEEN A LINE AND A LINE SEGMENT 268 A.6 COMPUTING THE COLLISION-
OR CONTACT-LOCAL FRAME FROM THE COLLISION- OR CONTACT-NORMAL VECTOR :
270 A.7 REPRESENTING CROSS-PRODUCTS AS MATRIX-VECTOR MULTIPLICATION 271
A.8 SUGGESTED READINGS 272 B NUMERICAL SOLUTION OF ORDINARY DIFFERENTIAL
EQUATIONS OF MOTION 273 B.I INTRODUCTION 273 B.2 EULER METHOD 276 B.2.1
EXPLICIT EULER 276 . B.2.2 IMPLICIT EULER 278 B.3 RUNGE-KUTTA METHOD 280
B.3.1 SECOND-ORDER RUNGE-KUTTA METHOD 280 B.3.2 FORTH-ORDER RUNGE-KUTTA
METHOD 283 B.4 USING ADAPTIVE TIME-STEP SIZES TO SPEED COMPUTATIONS . .
285 B.5 SUGGESTED READINGS 287 C QUATERNIONS 289 C.I INTRODUCTION 289
C.2 BASIC QUATERNION OPERATIONS . 290 C.2.1 ADDITION. 290 C.2.2 DOT
PRODUCT . . 290 C.2.3 MULTIPLICATION 290 C.2.4 CONJUGATE 291 C.2.5
MODULE 292 C.2.6 INVERSE 292 C.3 UNIT QUATERNIONS 292 C.4
ROTATION-MATRIX REPRESENTATION USING UNIT QUATERNIONS . . 293 C.5
ADVANTAGES OF USING UNIT QUATERNIONS 295 C.6 SUGGESTED READINGS 297 D
RIGID-BODY MASS PROPERTIES 299 D.I INTRODUCTION 299 D.2 MIRTICH S
ALGORITHM 300 D.2.1 VORUME-INTEGRAL TO SURFACE-INTEGRAL REDUCTION . . .
303 D.2.2 SURFACE-INTEGRAL TO PROJECTED-SURFACE-INTEGRAL REDUC- TION 304
D.2.3 PROJECTED-SURFACE-INTEGRAL TO LINE-INTEGRAL REDUCTION 308 D.2.4
COMPUTING THE LINE INTEGRALS FROM THE VERTEX COOR- DINATES 309 D.3
SUGGESTED READINGS 310 E USEFUL TIME DERIVATIVES 313 E.I INTRODUCTION
313 CONTENTS XV E.2 COMPUTING THE TIME DERIVATIVE OF A VECTOR ATTACHED
TO A RIGID BODY 313 E.3 COMPUTING THE TIME DERIVATIVE OF A
CONTACT-NORMAL VECTOR 314 E.3.1 PARTICLE-PARTICLE CONTACT 314 E.3.2
RIGID BODY-RIGID BODY CONTACT 315 E.4 COMPUTING THE TIME DERIVATIVE OF
THE TANGENT PLANE . . . 317 E.5 COMPUTING THE TIME DERIVATIVE OF A
ROTATION MATRIX . . . 318 E.6 COMPUTING THE TIME DERIVATIVE OF A UNIT
QUATERNION . . . 320 E.7 SUGGESTED READINGS 323 F CONVEX DECOMPOSITION
OF 3D POLYHEDRA 325 F.I INTRODUCTION 325 F.2 JOE S ALGORITHM 327 F.2.1
DETERMINING CANDIDATE CUT PLANES 329 F.2.2 COMPUTING THE CUT FACE
ASSOCIATED WITH A CUT PLANE331 F.2.3 TERMINATION CONDITIONS 334 F.3
SUGGESTED READINGS 334 G THE LINEAR-COMPLEMENTARITY PROBLEM 337 G.I
INTRODUCTION 337 G.2 DANTZIG S ALGORITHM: THE FRICTIONLESS CASE 339
G.2.1 TERMINATION CONDITIONS 347 G.3 BARAFF S ALGORITHM: COPING WITH
FRICTION 348 G.3.1 STATIC-FRICTION CONDITIONS 351 G.3.2 DYNAMIC FRICTION
361 G.3.3 TERMINATION CONDITIONS 362 G.4 SUGGESTED READINGS 363 H
SOFTWARE IMPLEMENTATION 365 REFERENCES 367 INDEX 375
|
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| id | DE-604.BV013902949 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:54:10Z |
| institution | BVB |
| isbn | 038795192X |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-009514401 |
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| physical | XV, 379 S. graph. Darst. : 25 cm |
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| spelling | Coutinho, Murilo G. Verfasser aut Dynamic simulations of multibody systems Murilo G. Coutinho New York ; Berlin ; Heidelberg ; Barcelona ; Hong Kong ; London Springer 2001 XV, 379 S. graph. Darst. : 25 cm txt rdacontent n rdamedia nc rdacarrier Literaturverz. S. 367 - 374 Computação gráfica larpcal Dynamique des corps rigides Mecânica dos fluídos larpcal Simulation par ordinateur Softwares (desenvolvimento) larpcal Computer simulation Dynamics, Rigid Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Vielteilchensystem (DE-588)4063491-7 gnd rswk-swf Computersimulation (DE-588)4148259-1 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 s Computersimulation (DE-588)4148259-1 s DE-604 Vielteilchensystem (DE-588)4063491-7 s HEBIS Datenaustausch Darmstadt application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=009514401&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Coutinho, Murilo G. Dynamic simulations of multibody systems Computação gráfica larpcal Dynamique des corps rigides Mecânica dos fluídos larpcal Simulation par ordinateur Softwares (desenvolvimento) larpcal Computer simulation Dynamics, Rigid Mehrkörpersystem (DE-588)4038390-8 gnd Vielteilchensystem (DE-588)4063491-7 gnd Computersimulation (DE-588)4148259-1 gnd |
| subject_GND | (DE-588)4038390-8 (DE-588)4063491-7 (DE-588)4148259-1 |
| title | Dynamic simulations of multibody systems |
| title_auth | Dynamic simulations of multibody systems |
| title_exact_search | Dynamic simulations of multibody systems |
| title_full | Dynamic simulations of multibody systems Murilo G. Coutinho |
| title_fullStr | Dynamic simulations of multibody systems Murilo G. Coutinho |
| title_full_unstemmed | Dynamic simulations of multibody systems Murilo G. Coutinho |
| title_short | Dynamic simulations of multibody systems |
| title_sort | dynamic simulations of multibody systems |
| topic | Computação gráfica larpcal Dynamique des corps rigides Mecânica dos fluídos larpcal Simulation par ordinateur Softwares (desenvolvimento) larpcal Computer simulation Dynamics, Rigid Mehrkörpersystem (DE-588)4038390-8 gnd Vielteilchensystem (DE-588)4063491-7 gnd Computersimulation (DE-588)4148259-1 gnd |
| topic_facet | Computação gráfica Dynamique des corps rigides Mecânica dos fluídos Simulation par ordinateur Softwares (desenvolvimento) Computer simulation Dynamics, Rigid Mehrkörpersystem Vielteilchensystem Computersimulation |
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