Geodesic
The impulse-based method for the simultaneous resolution of collisions between rigid bodies
Sibirskij žurnal vyčislitelʹnoj matematiki, Tome 9 (2006) no. 3, pp. 253-262 
E. N. Ermolin; A. Yu. Kazakov. The impulse-based method for the simultaneous resolution of collisions between rigid bodies. Sibirskij žurnal vyčislitelʹnoj matematiki, Tome 9 (2006) no. 3, pp. 253-262. http://geodesic.mathdoc.fr/item/SJVM_2006_9_3_a4/
@article{SJVM_2006_9_3_a4,
     author = {E. N. Ermolin and A. Yu. Kazakov},
     title = {The impulse-based method for the simultaneous resolution of collisions between rigid bodies},
     journal = {Sibirskij \v{z}urnal vy\v{c}islitelʹnoj matematiki},
     pages = {253--262},
     year = {2006},
     volume = {9},
     number = {3},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/SJVM_2006_9_3_a4/}
}
TY  - JOUR
AU  - E. N. Ermolin
AU  - A. Yu. Kazakov
TI  - The impulse-based method for the simultaneous resolution of collisions between rigid bodies
JO  - Sibirskij žurnal vyčislitelʹnoj matematiki
PY  - 2006
SP  - 253
EP  - 262
VL  - 9
IS  - 3
UR  - http://geodesic.mathdoc.fr/item/SJVM_2006_9_3_a4/
LA  - ru
ID  - SJVM_2006_9_3_a4
ER  - 
%0 Journal Article
%A E. N. Ermolin
%A A. Yu. Kazakov
%T The impulse-based method for the simultaneous resolution of collisions between rigid bodies
%J Sibirskij žurnal vyčislitelʹnoj matematiki
%D 2006
%P 253-262
%V 9
%N 3
%U http://geodesic.mathdoc.fr/item/SJVM_2006_9_3_a4/
%G ru
%F SJVM_2006_9_3_a4

Voir la notice de l'article provenant de la source Math-Net.Ru

The paper proposes an enhanced version of the impulse-based method for the numerical simulation of collisions between rigid bodies. This approach makes it possible to resolve several collisions simultaneously, allows for inelastic collisions with energy loss, and supports assembly constraints.

[1] O'Sullivan C., Dingliana J., Ganovelli F., Bradshaw G., Collision Handling For Virtual Environments, Tutorial proceedings. Eurographics-2001, 2001

[2] Fares C., Hamam Y., “Collision Detection for Rigid Bodies: A State of the Art Review”, Proc. of Graphicon-2005, Novosibirsk, Russia, 2005, 6–14

[3] Baraff D., “Analytical Methods for Dynamic Simulation of Non-penetrating Rigid Bodies”, ACM SIGGRAPH Computer Graphics, 23:3 (1989), 223–232, Proc. SIGGRAPH'89. Computer Graphics, July 1989 | DOI

[4] Baraff D., “Fast Contact Force Computation for Nonpenetrating Rigid Bodies”, Proc. of SIGGRAPH'94 (SIGGRAPH 94, Orlando, July 24-29, 1994), Computer Graphics Proceedings. Annual Conference Series, ACM Press, New York, 1994, 23–34

[5] Mirtich B., Impulse-Based Dynamic Simulation of Rigid Bodies, PhD Thesis, University of California, Berkeley, 1996

[6] Mirtich B., Fast and Accurate Computation of Polyhedral Mass Properties, University of California, Berkeley, 1996

[7] Forsythe G., Malcolm M., Moler C., Computer methods for mathematical computations, Prentice-Hall, Englewood Cliffs N.J. – London, 1977 | MR | Zbl