CS274: Computer Animation and Simulation: Rigid Body Dynamics

CS274: Computer Animation and Simulation
Lecture VII
Rigid Body Dynamics
CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

Rigid Bodies
Rigid bodies have both a position and orientation
Rigid bodies assume no object deformation
Rigid body motion is represented by 2 parameters

x(t ) - center of mass
R (t ) - orientation (rotation matrix)

Rigid Bodies
Objects are defined in body space and transformed
by the position and orientation into world space
p(t )  R(t ) p 0  x(t )

Linear Velocity
The change of the center of mass over time
x (t )  v (t )
For a pure translation ( R (t ) constant), all points
move with velocity v (t )

Angular Velocity
The change in orientation over time
ω(t )
Encodes both the axis and speed of the rotation
 direction encodes the axis
 magnitude encodes the speed (rad/s)
But, how are ω(t ) and R (t ) related?

Angular Velocity
ω
For a given vector
r (t )  ω(t )  r (t )
r
The columns of R (t ) represent the transformed axes
 (t )  ω(t )  R (t )
R .j .j
e2 R. 2 R.1
e1
e3
R. 3
Angular Velocity
We can represent the cross product with a matrix
0 az ay 
a  b  a b   ax
*
0 ax  b
a y az 0 
Therefore

R(t )  ω (t ) R(t )
*

Velocity of a Point
Since a point can be represented at any time by
r(t )  R(t ) r0  x(t )
Total velocity can then be expressed as
 (t ) r  v(t )
r (t )  R 0
Which can be rewritten as

r (t )  ω* R (t ) r0  v(t )
r (t )  ω  (r (t )  x(t ))  v(t )
Force
We can apply forces to the object at any point
F2 (t )
F1 (t )
Total force on an object is simply

F(t )   Fi (t )
No information about where the forces are applied

Torque
Torque describes the “rotational force”
τ i (t )  (ri (t )  x(t ))  Fi (t )
x(t ) r1 (t )
F2 (t )
F1 (t )
Total torque on an object is simply
τ(t )   τi (t )   (ri (t )  x(t ))  Fi (t )
Tells us about the force distribution over the object

Linear Momentum
Linear momentum of a particle is
pmv
Linear momentum of a rigid body is then

P(t )    r (t ) dV
density
integration over the body

Linear Momentum
Linear momentum can be simplified as follows
P(t )    r (t ) dV
P(t )    v(t )   ω  (r (t )  x(t )) dV
P(t )  M v(t )
Assuming constant mass gives

P (t )  M v (t )
P (t )  F(t )
Angular Momentum
Angular momentum of a rigid body
L(t )  I(t ) ω(t )
inertia tensor
Taking the time derivative

 (t )  τ(t )
L
Angular momentum is conserved for no torque

Inertia Tensor
Describes how mass is distributed in the body
 I xx I xy I xz  I xx    ( yˆ 2  zˆ 2 ) dV
 
I (t)   I yx I yy I yz  I xy     ( xˆyˆ ) dV
 I zx I zy I zz 
 xˆ  x  xcenterOfMass
Analogous to mass in linear velocity

Measures the preferred axis of rotation
Expensive to compute this at every time step

Inertia Tensor
Rewrite the tensor as
I(t )    (r (t )  r (t ) Id  r (t ) r (t ) ) dV
ˆ ˆ ˆ ˆ T
I(t )    (( R (t )r0 )T R (t )r0 Id  R (t )r0 (R (t )r0 )T ) dV
I(t )    (R (t )(r0 r0 Id  r0r0 )R T (t )) dV

T T
I(t )  R(t ) Ibody R (t )

T
Integrals can now be precomputed

Rigid Body Equations of Motion
Combining the equations
 x(t )   v (t ) 
R (t ) ω* R (t )
d    

dt  P(t )   F (t ) 
   
 L(t )   τ (t ) 
Discretize these continuous equations and integrate

Using Quaternions
Use quaternions to represent orientation
 cos( / 2) 
q(t )   
sin(  / 2) axis
The update rule is then

1
q (t )  ω(t ) q(t )
2

Rigid Body Equations of Motion
Using quaternions gives
 x(t )   v (t ) 
 q(t )   1 ω q(t )
d    2 
dt  P (t )   F (t ) 
   
L(t )  τ (t ) 
Discretize these continuous equations and integrate

Collisions and Contact
So far, no interaction between rigid bodies
Collision detection –
determining if, when and where a collision occurs
Collision response –
calculating the state (velocity, …) after the collision

Collisions and Contact
What should we do when there is a collision?
x(t0 )
x(t1 )
x(t2 )
x(t3 )

Rolling Back the Simulation
Restart the simulation at the time of the collision
x(t0 )
x(t1 )
x(t2 )
x(tc )
x(t3 )
Collision time can be found by bisection, etc.

Collision Detection
Exploit coherency through witnessing
Two convex objects are

non-penetrating iff there exists a
separating plane between them
separating plane
First find a separating plane and
see if it is still valid after the next
simulation step
Speed up with bounding boxes, grids, hierarchies, etc.

Collision Detection
Conditions for collision
p a (t )  v a (t )  ωa (t )  (p a (t )  x a (t ))
p a  p b
A A p a  p b A
N N N
B B B p a  p b
N  (p a (t )  p b (t ))  0 N  (p a (t )  p b (t ))  0 N  (p a (t )  p b (t ))  0
separating contact colliding
Collision
Soft Body Collision
Force is applied to prevent interpenetration

Collision
Soft Body Collision
Apply forces and change the velocity

Collision
Harder Collision
Higher force over a shorter time

Collision
Rigid Body Collision
Impulsive force produces a discontinuous velocity

Impulse
We need to change velocity instantaneously
Infinite force in an infinitesimal time
J  F t
An impulse changes the velocity as
J
v  or P  J
M
Impulse
An impulse also creates an impulsive torque
τ impulse  (p(t )  x(t ))  J
The impulsive torque changes the angular velocity
1
ω  I (t ) τimpulse or L  τ impulse

Impulse
For a frictionless collision
J jN
A Ja
N
B Jb
But how do we calculate j ?

Impulse
For a frictionless collision
N  (p a (t )  p b (t ))   (N  (p a (t )  p b (t )))
Given this equation and knowing how j affects the

linear and angular velocities of the two bodies,
we can solve for j
.̂ .̂ .̂ .̂

Resting Contact
Bodies are neither colliding nor separating
We want a force strong enough to resist

penetration but only enough to maintain contact
Resting Contact
We want to prevent interpenetration
d (t )  N  (p a (t )  pb (t ))  0
Since d (tc )  0 we should keep it from decreasing
d (t )  N
  (p (t )  p (t ))  N  (p (t )  p (t ))  0
a b a b
Since d (tc )  0 we should keep it from decreasing
d(tc )  N  (p
a (tc )  p   (p (t )  p (t ))  0
b (tc ))  2 N a c b c
Describes the objects’ acceleration towards one another

Resting Contact
Contact forces only act in the normal direction
Fc  f N(tc )
Contact forces should
 avoid interpenetration
d(tc )  0
 be repulsive
f 0
 become zero if the bodies begin to separate
f  d(tc )  0 workless force
Resting Contact
The relative accelerations can be written in terms
of all of the contact forces
di (tc )  a0 f 0  ...  an f n  bi
So we can simply solve a Quadratic Program to

find the solution to all the constraints

Simulation Algorithm
Algorithm with collisions and contact
current state
compute new state

next state
detect collisions and backtrack
collision state
compute and apply impulses
post-collision state
compute and apply constraint forces

CS274: Computer Animation and Simulation: Rigid Body Dynamics

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CS274: Computer Animation and Simulation

Rigid Body Dynamics

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

Rigid bodies assume no object deformation

Rigid body motion is represented by 2 parameters

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

p(t )  R(t ) p 0  x(t )

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

But, how are ω(t ) and R (t ) related?

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

Which can be rewritten as

Total force on an object is simply

No information about where the forces are applied

Total torque on an object is simply

τ(t )   τi (t )   (ri (t )  x(t ))  Fi (t )

Tells us about the force distribution over the object

Linear momentum of a rigid body is then

integration over the body

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

Assuming constant mass gives

Taking the time derivative

Angular momentum is conserved for no torque

Analogous to mass in linear velocity

Expensive to compute this at every time step

I(t )    (( R (t )r0 )T R (t )r0 Id  R (t )r0 (R (t )r0 )T ) dV

I(t )    (R (t )(r0 r0 Id  r0r0 )R T (t )) dV

I(t )  R(t ) Ibody R (t )

Integrals can now be precomputed

Discretize these continuous equations and integrate

The update rule is then

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

Discretize these continuous equations and integrate

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

Collision time can be found by bisection, etc.

Two convex objects are

Speed up with bounding boxes, grids, hierarchies, etc.

Force is applied to prevent interpenetration

Apply forces and change the velocity

Higher force over a shorter time

Impulsive force produces a discontinuous velocity

Infinite force in an infinitesimal time

An impulse changes the velocity as

The impulsive torque changes the angular velocity

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

But how do we calculate j ?

N  (p a (t )  p b (t ))   (N  (p a (t )  p b (t )))

Given this equation and knowing how j affects the

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

We want a force strong enough to resist

Since d (tc )  0 we should keep it from decreasing

Describes the objects’ acceleration towards one another

di (tc )  a0 f 0  ...  an f n  bi

So we can simply solve a Quadratic Program to

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

compute new state

CS274 Spring 01 Lecture 7 Copyright © Mark Meyer

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