Computing and calibrating collision impulses and its application for air hockey game

摘要

In this paper, we calibrate Mirtich's approach (1996) for computing a collision impulse by two kinds of randomized algorithms, and then apply the model for an air hockey game. Mirtich proposed a smart dynamic simulation called impulse-based simulation. He considers twin goals of physical accuracy and computational efficiency. The simulation can accurately model complex dynamic system in real-time. However, whether his impulse-based model is reasonable or not has not been investigated at all by any experimental result. For example, his impulse model requires the dynamic friction coefficient /spl mu//sub D/ and the coefficient e of restitution in advance. However, they strongly depend on shape and material of colliding objects. Because of noise and error of sensing, it is difficult for us to measure the parameters exactly. For this reason, in this paper, we calibrate these by using two kinds of randomized algorithms based on many reductions of momentums before and after the collision. Each momentum (multiplying mass and velocity) can be easily obtained by measuring relative linear velocities and angular velocities before and after the collision. They are practically and easily measured by a smart imaging of two objects. The air hockey game designed consists of two PC with two joysticks including force feedback, which are connecting each other by the fast Ethernet.