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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. [
▲'''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. [http://www.kuffner.org/james/software/dynamics/mirtich/ Brian Mirtich's PhD Thesis] has a very clear and detailed description of the algorithm. Baraff's paper [http://www.cs.cmu.edu/~baraff/papers/index.html "Linear-time dynamics using Lagrange multipliers"] has a discussion and comparison of both algorithms.
==References==
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==External links==
* [https://github.com/bulletphysics/bullet3/tree/master/src/BulletDynamics/Featherstone Featherstone Multibody in Bullet Physics engine]
*[http://
*[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]
*[
*[http://royfeatherstone.org Roy Featherstone's home page]
▲[[Category:Mechanics|Chearmen]]
[[Category:Computational physics]]
[[Category:Computer physics engines]]
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