Games104 Introduction to Modern Game Engines-lecture10 The Physical System of Game Engines: Basic Theory and Algorithms
1 Physics Actors and Sphapes
1 Physics Actor
static actor
dynamic actor
dynamic actor
2 Actor Shapes
Triangle mesh is only allowed to be static
Try to use simple, not complex.
Set quality and density
Center of mass:
friction and elasticity
2 force
momentum
3 sports
1 shows the Euler integral:
Energy is not conserved!
Advantages: simple and effective
Disadvantages: energy is not conserved
2 Implicit Euler method
The power of the future will be counted.
Energy decays!
is a stable solution.
3 Semi-implicit Euler method – cost-effective, the most used
4 Rigid body dynamics
Moment of inertia: is a tensor.
Conservation of Angular Momentum:
Moment:
Applications:
5 Collision detection
1 Broad Phase
2 Narrow Phase
distance field method
1 Minkowski
Minkoff and:
AB:
2 GJK algorithm
3 SAT algorithm
6 collision Resoution
Lagrangian – for stability
7 scene query
8 Efficiency，Accuracy，Determinism
Grouping,
CCD: Continuous Collision Detection - very commonly used.
Floating-point instability.
