The Multibody Dynamics Contact Demo

This demo illustrates multi-body dynamics with contact. The puppet is composed of 15 rigid bodies connected together with spherical and revolute joints. Joint limits are enforced using a combination of hard limits and restoring forces created by 6 DOF "frame" springs. A pair of axial springs connect the puppet to a flat plate, which is moved about under parametric control, dragging the puppet with it.

Collision Videos

Note - videos require DivX plugin (e.g. VLC Player)