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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 [https://www.cs.cmu.edu/~baraff/papers/index.html "Linear-time dynamics using Lagrange multipliers"] has a discussion and comparison of both [[algorithm]]s.
==References==
* {{cite book | first=
==External links==
* [https://github.com/bulletphysics/bullet3/tree/master/src/BulletDynamics/Featherstone Featherstone Multibody in Bullet Physics engine]
*[http://physsim.sourceforge.net Featherstone's algorithm implementation in the Moby rigid body dynamics simulator]
*[http://www.kuffner.org/james/software/
*[http://www.thyrix.com/documentation/featherstone_method.php Description and references]
*[http://www.kuffner.org/james/software/dynamics/mirtich/ Mirtich's Thesis]
*[https://www.cs.cmu.edu/~baraff/papers/index.html Baraff's Lagrange multiplier method]
*[http://royfeatherstone.org Roy Featherstone's home page]
▲[http://www.kuffner.org/james/software/index.html Source code for implementation of Featherstone's algorithm]
[[Category:Computational physics]]
[[Category:Computer physics engines]]
▲{{cite book | first=Roy | last=Featherstone | title=Robot Dynamics Algorithms | publisher=Kluwer | ___location=Boston | year=1987 | id=ISBN 0898382300}}
{{algorithm-stub}}
▲[[Category:Mechanics]] [[Category:Algorithms]]
{{compu-physics-stub}}
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