Abstract
Rigid-body dynamic simulations are by far the most interesting ones, with applications ranging from mechanical-systems design and prototyping, to robotic motion, to physics-based computer-graphics animations. A rigid body is modeled as a collection of particles that make up its geometric shape. During motion, the relative position of each particle forming the rigid body must remain constant so that its shape remains unchanged throughout the motion. This requires taking into account the rotational motion of the rigid body, which in turn considerably complicates the derivation of the equations of motion, the collision-detection techniques to be used, and the computation of all impulsive and contact forces that prevent their interpenetration during a simulation.
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Coutinho, M.G. (2001). Rigid-Body Systems. In: Dynamic Simulations of Multibody Systems. Springer, New York, NY. https://doi.org/10.1007/978-1-4757-3476-8_4
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DOI: https://doi.org/10.1007/978-1-4757-3476-8_4
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