Rigid Bodies

Our living environment is stuffed with rigid objects.

✅ rigid：物体很硬，因此不考虑形变。

P6

Rigid Body Simulation

The goal of simulation is to update the state variable \(\mathbf{s} ^{[k]}\) over time.

P7

Rigid Body Motion

If a rigid body cannot deform, its motion consists of two parts: translation and rotation.

✅reference：参考状态,无平移,无旋转此时物体中心点在原点上，\(\mathbf{x}\) 轴向左，\(\mathbf{y}\) 轴用上\(\mathbf{z}\) 轴向前。
当前状态：旋转为\(\mathbf{R}\)，平移为\(\mathbf{T}\). 那么物体上任意点的位置为：
\(\mathbf{{x}}' = \mathbf{Rx} + \mathbf{T}\)
刚体模拟：已知当前时刻的状态和受到的力，求下一时刻的状态。

本文出自CaterpillarStudyGroup，转载请注明出处。

https://caterpillarstudygroup.github.io/GAMES103_mdbook/