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Overview Class #4 (Tues, Jan 28) • Rigid body dynamics • Assignment #1 • Constrained Particle Systems (Baraff & Witkin) • Grading: • Assignments 40% • Project 50% • Presentation 10%

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Page 1: Overview Class #4 (Tues, Jan 28) Rigid body dynamics Assignment #1 Constrained Particle Systems (Baraff & Witkin) Grading: Assignments 40% Project 50%

OverviewClass #4 (Tues, Jan 28)

• Rigid body dynamics

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

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

Page 2: Overview Class #4 (Tues, Jan 28) Rigid body dynamics Assignment #1 Constrained Particle Systems (Baraff & Witkin) Grading: Assignments 40% Project 50%

Assn #1: Baumgarte Stabilization

• For single particle (scalar) case…

Page 3: Overview Class #4 (Tues, Jan 28) Rigid body dynamics Assignment #1 Constrained Particle Systems (Baraff & Witkin) Grading: Assignments 40% Project 50%

Assn #1: Baumgarte Stabilization

• For particle system (vector) case…

Page 4: Overview Class #4 (Tues, Jan 28) Rigid body dynamics Assignment #1 Constrained Particle Systems (Baraff & Witkin) Grading: Assignments 40% Project 50%

Rigid Body Dynamics

Examples from David Baraff

Page 5: Overview Class #4 (Tues, Jan 28) Rigid body dynamics Assignment #1 Constrained Particle Systems (Baraff & Witkin) Grading: Assignments 40% Project 50%

Rigid Body Dynamics

• Videos (Havok)

Page 6: Overview Class #4 (Tues, Jan 28) Rigid body dynamics Assignment #1 Constrained Particle Systems (Baraff & Witkin) Grading: Assignments 40% Project 50%

Baraff & Witkin Notes

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

Page 7: Overview Class #4 (Tues, Jan 28) Rigid body dynamics Assignment #1 Constrained Particle Systems (Baraff & Witkin) Grading: Assignments 40% Project 50%

Next Class…

• Rigid body contact

• Graphics literature

• Constraint formulation• Lagrangian• Reduced coordinate

• Cool applications!


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