Architecture of a Rigid Body Simulation System

by Mike Cline

I will be presenting my Master's thesis work, which involved implementing a general purpose rigid body simulation system. I will give an overview of the architecture of our system, which is a constraint-based system that allows for rigid multibodies with contact and friction. I will show a specific application of our system, where we generate perturbed animations of human motion by combining motion capture data with a physical simulation. I will also describe a novel constraint stabilization method, based on the post-stabilization methods of Ascher and Chin, but with extended in a way that allows it fit nicely with the way we model contact in our system.

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