A Linear Time Algorithm for Collision Response of Articulated Rigid Bodies

Dae-Hyun JEONG  Kwan-Woo RYU  

IEICE TRANSACTIONS on Information and Systems   Vol.E90-D   No.9   pp.1478-1481
Publication Date: 2007/09/01
Online ISSN: 1745-1361
DOI: 10.1093/ietisy/e90-d.9.1478
Print ISSN: 0916-8532
Type of Manuscript: LETTER
Category: Computer Graphics
computer graphics,  physically based modeling,  virtual reality,  

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We present a linear-time algorithm for treating collision response of articulated rigid bodies in physically based modeling. By utilizing the topology of articulated rigid bodies and the property of linear equations, our method can solve in linear time the system of linear equations that is crucial for treating collision response.