Featherstone's algorithm: Difference between revisions

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'''Featherstone's algorithm''' is a technique used for computing the effects of forces applied to a structure of joints and links (an "open [[kinematic chain]]") such as a [[skeleton]] used in [[ragdoll physics]].

The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular [[Lagrange multiplier method]], which uses maximal coordinates. [https://people.eecs.berkeley.edu/~jfc/mirtich/thesis/mirtichThesis.pdf Brian Mirtich's PhD Thesis] has a very clear and detailed description of the algorithm. Baraff's paper [httphttps://www.cs.cmu.edu/~baraff/papers/index.html "Linear-time dynamics using Lagrange multipliers"] has a discussion and comparison of both [[algorithm]]s.

==References==

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*[http://www.thyrix.com/documentation/featherstone_method.php Description and references]

*[http://www.kuffner.org/james/software/dynamics/mirtich/ Mirtich's Thesis]

*[httphttps://www.cs.cmu.edu/~baraff/papers/index.html Baraff's Lagrange multiplier method]

*[http://royfeatherstone.org Roy Featherstone's home page]

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