We present a rigid body simulation method that can resolve small temporal and spatial details by using a quasi explicit integration scheme that is unconditionally stable. Traditional rigid body simulators linearize constraints because they operate on the velocity level or solve the equations of motion implicitly thereby freezing the constraint directions for multiple iterations. Our method always works with the most recent constraint directions. This allows us to trace high speed motion of objects colliding against curved geometry, to reduce the number of constraints, to increase the robustness of the simulation, and to simplify the formulation of the solver. In this paper we provide all the details to implement a fully fledged rigid body solver that handles contacts, a variety of joint types and the interaction with soft objects.

中文翻译：

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使用基于扩展位置的动力学进行详细的刚体仿真

我们提出了一种刚体模拟方法，该方法可以通过使用无条件稳定的准显式积分方案来解决小的时间和空间细节。传统的刚体模拟器将约束线性化，因为它们在速度级别上运行或隐式求解运动方程，从而为多次迭代冻结约束方向。我们的方法始终适用于最新的约束方向。这使我们能够跟踪与弯曲几何体碰撞的物体的高速运动，减少约束的数量，增加模拟的鲁棒性，并简化求解器的公式化。在本文中，我们提供了实现完全成熟的刚体求解器的所有细节，该求解器可处理接触、各种关节类型以及与软物体的交互。