The paper presents a simple, robust, and effective constraint enforcement scheme for rigid body dynamic simulation. The constraint enforcement scheme treats the constraint equations implicitly providing stability as well as accuracy in constrained dynamic problems. The method does not require
ad-hoc problem dependent parameters. We describe the formulation of implicit constraint enforcement for both holonomic and non-holonomic cases in rigid body simulation. A first order version of the method is compared to a first order version of the well-known Baumgarte stabilization.
Min Hong, Samuel Welch, John Trapp, and Min-Hyung Choi, Implicit Constraint Enforcement for Rigid Body Dynamic Simulation. In Proceedings of International Conference on Computational Science Visualization and Virtual Reality, June 2006.
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