Modeling articulated bodies with distributed mass for virtual interactive environments

Abstract

Dynamic simulation is a powerful application of contemporary computers, it has uses that range from design and manufacturing to simulation and entertainment products. This work investigates dynamic simulation of articulated bodies in interactive virtual environments. Previous techniques for both modeling articulated bodies in virtual environments as well as simulating their motion are qualitatively compared for the twin goals of correctness of results and computational efficiency. Implementations of the Verlet system and the method of stiff springs for articulated bodies are quantitatively compared when used for bodies with segments of varied mass in interactive virtual environments. Finally, a novel adaptation of the Verlet technique for simulating constrained and articulated bodies is presented. Through this adaptation to the Verlet algorithm we are able to simulate bodies with links of inconsistent mass more faithfully than with previous implementations.