Featherstone's algorithm
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This article includes a list of references, related reading, or external links, but its sources remain unclear because it lacks inline citations. (February 2024) |
Featherstone's algorithm is a technique used for computing the effects of forces applied to a structure of joints and links (an "open kinematic chain") such as a skeleton used in ragdoll physics.
The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular Lagrange multiplier method, which uses maximal coordinates. Brian Mirtich's PhD Thesis has a very clear and detailed description of the algorithm. Baraff's paper "Linear-time dynamics using Lagrange multipliers" has a discussion and comparison of both algorithms.
References
[edit | edit source]- Lua error in Module:Citation/CS1/Configuration at line 2172: attempt to index field '?' (a nil value).
External links
[edit | edit source]- Featherstone Multibody in Bullet Physics engine
- Featherstone's algorithm implementation in the Moby rigid body dynamics simulator
- Source code for implementation of Featherstone's algorithm
- Description and references
- Mirtich's Thesis
- Baraff's Lagrange multiplier method
- Roy Featherstone's home page
