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dartsim / dart

DART: Dynamic Animation and Robotics Toolkit
http://dartsim.github.io/
BSD 2-Clause "Simplified" License
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Add optional simulation step functions #238

Open jslee02 opened 9 years ago

jslee02 commented 9 years ago

There are some options we can choose for forward dynamics simulation step. They are integration method, handling method for velocity constraints and position constraints. There could be number of combination of them depending on speed, accuracy, and guarantee of constraint satisfaction. DART currently has one step function of semi-implicit Euler integration, correcting velocity and position constraints using impulse simultaneously.

stale[bot] commented 6 years ago

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