Transcript lecture14
Advanced Computer Graphics Rigid Body Simulation Spring 2002 Professor Brogan Upcoming Assignments • Who wants a midterm instead of an assignment? • Final will be take home • Cloth/water/parallel particle sim presentations – Volunteers? – Papers selected by Thursday Physical Simulation • References – Text book (4.3 and Appendix B) – Physics for Game Developers (Bourg) – Chris Hecker Game Developer articles • http://www.d6.com/users/checker/dynamics.htm Equations of Motion • The physics-based equations that define how objects move – Gravity – Turbulence – Contact forces with objects – Friction – Joint constraints Equations of Motion Current State Equations of Motion Position and velocity Integrate Forces Integrate Velocities Accelerations Integrate Equations of Motion r (t ) v(t )dt • Linear motions: v(t ) a (t )dt • Example: – Constant acceleration of 5 m/s2 v(t ) a dt 5dt 5t C v(0) 5(0) C v0 C v(t ) 5t v0 5 2 r (t ) v(t )dt 5t v0 dt t v0t r0 2 Linear Momentum • Mass times velocity = linear momentum, p p mv • Newton’s Second Law dp d (mv ) F p mv ma dt dt Ceasing to identify vectors… Rigid Bodies • Imagine a rigid body as a set of point masses • Total momentum, pT, is sum of momentums of i i all points: pT mv i • Center of Mass (CM) is a single point. Vector to CM CM r is linear combination of vectors to all points in rigid body weighted by their masses, divided by total mass of body i i m r i M Total Momentum • Rewrite total momentum in terms of CM i i CM d ( m r ) d ( Mr ) T i i p m v dt dt i i • Total linear momentum equals total mass times the velocity of the center of mass (For continuous rigid bodies, all summations turn into integrals over the body, but CM still exists) • We can treat all bodies as single point mass and velocity Total Force • Total force is derivative of the total momemtum – Again, CM simplifies total force equation of a rigid body F p Mv T T CM Ma CM – We can represent all forces acting on a body as if their vector sum were acting on a point at the center of mass with the mass of the entire body Intermediate Results • Divide a force by M to find acceleration of the center of mass • Integrate acceleration over time to get the velocity and position of body • Note we’ve ignored where the forces are applied to the body • In linear momentum, we don’t keep track of the angular terms and all forces are applied to the CM. Ordinary Differential Equations • A DifEq is an equation with – Derivatives of the dependent variable – Dependent variable – Independent variable • Ex: dv v a dt m • v’s derivative is a function of its current value • Ordinary refers to ordinary derivatives – As opposed to partial derivatives Integrating ODEs • Analytically solving ODEs is complicated • Numerically integrating ODEs is much easier (in general) – Euler’s Method – Runge-Kutta Euler’s Method • Based on calculus definition of first derivative = slope Euler’s Method • Use derivative at time n to integrate h units forward dyn yn 1 yn h dx Euler Errors • Depending on ‘time step’ h, errors will accumulate SIGGRAPH Course Notes Accumulating Errors SIGGRAPH Course Notes Recap Angular Effects • Let’s remain in 2-D plane for now • In addition to kinematic variables – x, y positions • Add another kinematic variable – W angle – CCW rotation of object axes relative to world axes Angular Velocity • w is the angular velocity d W dw w a 2 dt dt 2 • a is the angular acceleration Computing Velocities • How do we combine linear and angular quantities? • Consider velocity of a point, B, of a rigid body rotating about its CM v wr B OB • r_perp is perpendicular to r vector from O to B • Velocity is w-scaled perpendicular vector from origin to point on body More Details • • • • Point B travels W radians Point B travels C units Radius of circle is r C= Wr – By definition of radians, where circumference = 2pr • B’s speed (magnitude of velocity vector) – Differentiate C= Wr w.r.t. time d (Wr ) dW r wr dt dt More Details • The direction of velocity is tangent to circle == perpendicular to radius • Therefore, linear velocity is angular velocity multiplied by tangent vector Chasles’ Theorem • Any movement is decomposed into: – Movement of a single point on body – Rotation of body about that point • Linear and Angular Components v v wr B O OB Angular Momentum • The angular momentum of point B about point A (we always measure angular terms about some point) • It’s a measure of how much of point B’s linear momentum is rotating around A AB L r AB p B Angular Momentum • Check: If linear momentum, pB, is perpendicular to r_perp, then dot product of two will cause angular momentum will be zero Torque • Derivative of Angular Momentum – Remember force was derivative of linear momentum AB B ) AB dL d (r p dt dt AB AB B r ma r F B – This measures how much of a force applied at point B is used to rotate about point A, the torque Total Angular Momentum • Total angular momentum about point A is denoted LAT Ai i AT L r p i r m i v i Ai i • But computation can be expensive to sample all points • Sampling of a surface would require surface integration Moment of Inertia • Remember v wr B AT L r p i Ai i r m i v i Ai OB i – An alternate way of representing the velocity of a point in terms of angular velocity • If A is like the origin L r m wr i i is like B, then substitute Ai AT i Ai w m r r i Ai Ai i w m (r ) i i wI A Ai 2 Moment of Inertia, IA • The sum of squared distances from point A to each other point in the body, and each squared distance is scaled by the mass of each point Ai 2 i A m (r ) I i • This term characterizes how hard it is to rotate something – Ipencil_center will be much less than Ipencil_tip Total Torque • Differentiate total AT angular momentum to get total torque • This relates total torque and the body’s angular acceleration through the scalar moment of inertia dLAT d ( I Aw ) dt I Aw I Aa Planar Dynamics • • • • • • • • Calculate COM and MOI of rigid body Set initial position and linear/angular velocities Figure out all forces and their points of application Sum all forces and divide by mass to find COM’s linear acceleration For each force, compute perp-dot-product from COM to point of force application and add value into total torque of COM Divide total torque by the MOI at the COM to find angular acceleration Numerically integrate linear/angular accelerations to update the position/orientation and linear/angular velocities Draw body in new position and repeat Upcoming Topics • Collisions • 3-dimensional rigid bodies (inertia tensors) • Forces (centripetal, centrifugal, viscosity, friction, contact) • Constrained dynamics (linked bodies)