Implicit Constraint Enforcement for Rigid Body Dynamic Simulation

  • Min Hong
  • Samuel Welch
  • John Trapp
  • Min-Hyung Choi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3991)


The paper presents a simple, robust, and effective constraint enforcement scheme for rigid body dynamic simulation. The constraint enforcement scheme treats the constraint equations implicitly providing stability as well as accuracy in constrained dynamic problems. The method does not require ad-hoc problem dependent parameters. We describe the formulation of implicit constraint enforcement for both holonomic and non-holonomic cases in rigid body simulation. A first order version of the method is compared to a first order version of the well-known Baumgarte stabilization.


Rigid Body Dynamic Holonomic Constraint Order Version Euler Parameter Constraint Error 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Min Hong
    • 1
  • Samuel Welch
    • 2
  • John Trapp
    • 2
  • Min-Hyung Choi
    • 3
  1. 1.Division of Computer Science and EngineeringSoonchunhyang UniversityChungcheongnam-doKorea
  2. 2.Department of Mechanical EngineeringUniversity of Colorado at Denver and Health Sciences CenterDenverUSA
  3. 3.Department of Computer Science and EngineeringUniversity of Colorado at Denver and Health Sciences CenterDenverUSA

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