A Versatile Quaternion-based Constrained Rigid Body Dynamics
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YouTubeDisneyResearchHub
A Versatile Quaternion-based Constrained Rigid Body Dynamics
We present a constrained Rigid Body Dynamics (RBD) that guarantees satisfaction of kinematic constraints, enabling direct simulation of complex mechanical systems with arbitrary kinematic structures. To ensure constraint satisfaction, we use an implicit integration scheme. For this purpose, we derive compatible dynamic equations expressed ...
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