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Date: Wed, 20 Nov 1996 19:25:27 GMT
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<title>Impulse-based Dynamic Simulation</title>

<center>
<!WA0><IMG SRC="http://http.cs.berkeley.edu/~mirtich/images/ibs.gif"><p>
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<p>

<h3>
Impulse-based simulation is a new paradigm for the simulation of physical
systems, especially those which are hard to simulate efficiently 
with traditional constraint-based methods.  
The key idea is that all contact interactions
between objects are affected through collisions; even a block apparently
at rest on a table actually experiences many tiny, rapid collisions with
the surface.
<p>

The basic theory has been put into practice with <i>Impulse</i>, a
rigid body dynamic simulator running on HP and SGI platforms.  
<i>Impulse</i> was written in C by
<!WA1><a href="http://http.cs.berkeley.edu/~mirtich/homepage.html">Brian Mirtich</a>.  Physical accuracy
and computational efficiency have been and continue to be important
design criteria for this evolving system.  Physically accurate, real time
3D simulation of reasonably complex systems is the goal.
</h3>
<p>

<hr>

<h2>Ongoing Research with <i>Impulse</i> </h2>

<ul>

<!WA2><img src="http://http.cs.berkeley.edu/~mirtich/icons/yellowball.gif" alt=" * "> 
<!WA3><a href="http://www.cs.berkeley.edu/~fbarr">Francesca Barrientos</a>:
Metaphors for manual (haptic interface) interaction with virtual
environments and animated agents<p>

<!WA4><img src="http://http.cs.berkeley.edu/~mirtich/icons/yellowball.gif" alt=" * "> 
<b>Dina Berkowitz</b>:
Simulation scripting languages and simulation-based design of parts feeders <p>

<!WA5><img src="http://http.cs.berkeley.edu/~mirtich/icons/yellowball.gif" alt=" * "> 
<!WA6><a href="http://http.cs.berkeley.edu/~jfc">John Canny</a>:
Advising<p>

<!WA7><img src="http://http.cs.berkeley.edu/~mirtich/icons/yellowball.gif" alt=" * "> 
<!WA8><a href="http://http.cs.berkeley.edu/~mirtich">Brian Mirtich</a>:
Combining impulse- and constraint-based techniques for interactive 
simulation <p>

<!WA9><img src="http://http.cs.berkeley.edu/~mirtich/icons/yellowball.gif" alt=" * "> 
<!WA10><a href="http://http.cs.berkeley.edu/~paulos">Eric Paulos</a>, 
<!WA11><a href="http://www.cs.unc.edu/~manocha/">Dinesh Manocha</a>:
Parallelization of impulse-based algorithms <p>

<!WA12><img src="http://http.cs.berkeley.edu/icons/blank.xbm" alt="   ">
Check out Eric's work on 
<!WA13><a href ="http://robotics.eecs.berkeley.edu/~paulos/IMP/">
parallelizing <i>Impulse</i></a>, including an in-depth 
<!WA14><a href="http://robotics.eecs.berkeley.edu/~paulos/IMP/tour.html">tour</a>
through its operational steps.<p>

<!WA15><img src="http://http.cs.berkeley.edu/~mirtich/icons/yellowball.gif" alt=" * "> 
<b>Aaron Wallack</b>:
Simulation-based verification of fixturing algorithms <p>

</ul> 
<p>



<h2>
<!WA16><a href="http://http.cs.berkeley.edu/~mirtich/simulation.html">Related Research</a>
</h2> <p>

<hr>

<h2>Papers</h2><p>

<ul>

<!WA17><img src="http://http.cs.berkeley.edu/icons/text.xbm" alt = " * ">
Brian Mirtich,
<b> ``Hybrid Simulation:  Combining Constraints and Impulses,'' </b>
in <i> Proceedings of First Workshop on Simulation and Interaction
in Virtual Environments, </i> 
July 1995.
<!WA18><a href="http://http.cs.berkeley.edu/~mirtich/papers/cwi.ps"> <b> [238K postscript] </b> </a>
<!WA19><a href="http://http.cs.berkeley.edu/~mirtich/papers/cwi.ps.gz"> <b> [50K gzipped postscript] </b> </a>
<p>

<!WA20><img src="http://http.cs.berkeley.edu/icons/text.xbm" alt = " * ">
Brian Mirtich and John Canny,
<b> ``Impulse-based Simulation of Rigid Bodies,'' </b>
in <i> Proceedings of 1995 Symposium on Interactive 3D Graphics, </i>
April 1995.
<!WA21><a href="http://http.cs.berkeley.edu/~mirtich/papers/ibsrb.ps"> <b> [3.46M postscript] </b> </a>
<!WA22><a href="http://http.cs.berkeley.edu/~mirtich/papers/ibsrb.ps.gz"> <b> [184K gzipped postscript] </b> </a><p>
<p>

<!WA23><img src="http://http.cs.berkeley.edu/icons/text.xbm" alt = " * ">
Brian Mirtich and John Canny,
<b> ``Impulse-based Dynamic Simulation,'' </b> </a>
in <i> Proceedings of Workshop on Algorithmic Foundations of Robotics, </i>
February 1994.
<!WA24><a href="http://http.cs.berkeley.edu/~mirtich/papers/ibds.ps"> <b> [2.54M postscript] </b> </a>
<!WA25><a href="http://http.cs.berkeley.edu/~mirtich/papers/ibds.ps.gz"> <b> [166K gzipped postscript] </b> </a><p>
<p>


</ul>

<hr>


<h2>
<!WA26><img src="http://http.cs.berkeley.edu/icons/movie.xbm" alt=" * "> 
<!WA27><a href="http://http.cs.berkeley.edu/~mirtich/impulseMovies.html">Simulation Movies</a>
</h2><p>

<hr>

<h2> Simulation Art Gallery </h2>

Special thanks to Master Motion Blurer, 
<!WA28><a href = "http://http.cs.berkeley.edu/~debevec/me.html"> Paul Debevec </a>.

<ul>

<!WA29><img src="http://http.cs.berkeley.edu/~mirtich/icons/greenball.gif" alt=" * "> 
<!WA30><a HREF = "http://http.cs.berkeley.edu/~mirtich/images/bowl9.tif">Bowling pins</a><p>

<!WA31><img src="http://http.cs.berkeley.edu/~mirtich/icons/greenball.gif" alt=" * "> 
<!WA32><a HREF = "http://http.cs.berkeley.edu/~mirtich/images/coins3.tif">Coins</a><p>

<!WA33><img src="http://http.cs.berkeley.edu/~mirtich/icons/greenball.gif" alt=" * "> 
<!WA34><a HREF = "http://http.cs.berkeley.edu/~mirtich/images/ucb3.tif">Block Letters</a><p>

</ul>


<h4>
<hr>
<address>
<!WA35><a href ="http://http.cs.berkeley.edu/~mirtich/">Brian Mirtich</a> /
[e-mail] /
25 July 1995
</address>