Cooking with Complementarity: A Recipe Guide for Complementarity Based Rigid-Multi-Body Dynamics Simulation Stephen Berard The focus of this report is to clarify the complementarity based formulation of multi-rigidbody simulation through use of illustrative examples. We present an existing semi-implicit time stepping method with complementarity formulation for the contact [2]; and use this method on several 2D examples. The report is organized as follows. In the next section, preliminary material and notation is presented. In section 3, the semi-implicit time stepper used for all the examples is presented. Section 4 begins the examples with a simple planar 2 bar pendulum and continues by adding more and more complexity to the subsequent examples. Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY 08/25/2006 cs-06-08
Cooking with Complementarity: A Recipe Guide for Complementarity Based Rigid-Multi-Body Dynamics Simulation
Stephen Berard
The focus of this report is to clarify the complementarity based formulation of multi-rigidbody simulation through use of illustrative examples. We present an existing semi-implicit time stepping method with complementarity formulation for the contact [2]; and use this method on several 2D examples. The report is organized as follows. In the next section, preliminary material and notation is presented. In section 3, the semi-implicit time stepper used for all the examples is presented. Section 4 begins the examples with a simple planar 2 bar pendulum and continues by adding more and more complexity to the subsequent examples.
Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY
08/25/2006
cs-06-08