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by St Ephane Redon, Abderrahmane Kheddar, Sabine Coquillart
In proceedings of IEEE International Conference on Robotics and Automation
http://cs.unc.edu/~redon/papers/icra2002.ps
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Abstract:
Most of well-known approaches for rigid body simulations are formulated in the contact-space. Thanks to Gauss ' principle of least constraints, the frictionless dynamics problems are formulated in a motion-space. While the two formulations are mathematically equivalent, they are not computationally equivalent. The motion-space formulation is better conditionned, always sparse, needs less memory, and avoids some unnecessary computations. A preliminary experimental comparison suggests that an algorithm operating in the motionspace takes advantage of sparsity to perform increasingly better than a contact-space algorithm as the average number of contact points per object increases. 1
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