Content deleted Content added
No edit summary |
Added {{No footnotes}} tag |
||
| (23 intermediate revisions by 20 users not shown) | |||
Line 1:
{{No footnotes|date=February 2024}}
'''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.
==External links==▼
*[http://www.kuffner.org/james/software/ Source code for implementation of Featherstone's algorithm]▼
==References==
* {{cite book | first=R. | last=Featherstone | title=Robot Dynamics Algorithms | publisher=Kluwer | ___location=Boston | year=1987 | isbn=0-89838-230-0}}
▲==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/ 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]
*[https://www.cs.cmu.edu/~baraff/papers/index.html Baraff's Lagrange multiplier method]
*[http://royfeatherstone.org Roy Featherstone's home page]
[[Category:Mechanics]]
[[Category:Computational physics]]
[[Category:Computer physics engines]]
{{algorithm-stub}}
{{compu-physics-stub}}
| |||