REDMAX: Efficient & Flexible Approach for Articulated Dynamics
Ying Wang, Nicholas J. Weidner, Margaret A. Baxter, Yura Hwang, Danny M. Kaufman, Shinjiro Sueda
ACM Transactions on Graphics, 38 (4) XX:1-XX:10 (SIGGRAPH), 2019.
Source folders:
c++
: C++ implementation including Projected Block Jacobi Preconditionermatlab-simple
: Simpler object-oriented MATLAB implementation for getting startedmatlab
: Object-oriented MATLAB implementation with many features, including:- Recursive hybrid dynamics (Featherstone's algorithm) for comparison
- Time integration using
ode45
oreuler
- Frictional dynamics with Bilateral Staggered Projections
- Spline curve and surface joints [Lee and Terzopoulos 2008]