Simulation of rigid body dynamics

Abstract

In this thesis the problems of simulating rigid body dynamics are discussed and a library is provided that can be reused without dealing with the more complicated problems of rigid body simulation as collision detection and contact handling.

It is not possible to simulate rigid body dynamics without a decent collison detection routine. Without a collision detection routine it is only possible to simulate the movement of rigid body objects, not interaction between them.

Although collision detection is considered a different subject, it is heavily interleaved with rigid body dynamics simulation.