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. [httphttps://wwwpeople.kuffnereecs.orgberkeley.edu/james/software/dynamics~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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==External links==

* [https://github.com/bulletphysics/bullet3/tree/master/src/BulletDynamics/Featherstone Featherstone Multibody in Bullet Physics engine]

*[http://physsim.sourceforge.net The Moby rigid body dynamics simulator contains an implementation of Featherstone's algorithm]

*[http://wwwphyssim.kuffnersourceforge.org/james/software/net SourceFeatherstone's code foralgorithm implementation ofin Featherstone'sthe algorithmMoby rigid body (deaddynamics link)simulator]

*[http://www.kuffner.org/james/software/ Source code for implementation of Featherstone's algorithm]

*[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]

[[Category:Mechanics]]

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