Impulse based Dynamic Simulation

We introduce a promising new approach to dynamic simulation called impulse based simulation The dis tinguishing feature of this method is the uni cation of all types of contact colliding rolling sliding and resting under a single framework non colliding con tacts are simulated as a series of tiny microcollisions The approach is simpler and more robust than previous constraint based methods Simulation results agree with physical experiments and the method is fast enough to make real time simulation possible In the course of describing impulse based simulation we present an ef cient collision detection scheduling scheme and a fully general treatment of frictional collisions We conclude with some of the results generated by our simulator