English
资源说明：Modern 3d applications convince through models with high polygon counts, detailed textures, and advanced lighting techniques. The results are closer to photographic realism than ever before. But so
often this illusion of a virtual world is lost as soon as objects start to move and interact.
One method to improve the believability of moving, interacting objects is simulation of physics. Idealization of real world objects helps to simplify and speed up the simulation. One important idealization is a rigid body – a body that never changes its shape. The majority of objects in interactive 3d
applications can be treated as rigid bodies or systems of connected rigid bodies. Examples are barrels, bricks, rocks, cupboards with movable doors, and even humans and animals with movable limbs.
These rigid bodies can collide with each other and are subject to forces, like gravity and friction, and constraints. Constraints are conditions that restrict the movement of bodies. For example, a joint
constraint connects two bodies.
This thesis summarizes the fundamentals of mechanics that are necessary to build a simulation of rigid body dynamics. A modular overview of the simulation process is given, and the state of the art
simulation methods will be examined. With this knowledge a framework for the simulation of rigid body dynamics in interactive 3d applications is presented. The designed framework is independent of special simulation methods and allows incorporating all examined simulation methods and physical effects.
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