Architecture of Newton, a General-Purpose Dynamics Simulator

摘要

This paper describes the architecture of Newton, a general-purpose system for simulating the dynamics of complex physical objects. The system automatically formulates and analyzes equations of motion, and performs automatic modification of this system of equations when necessitated by changes in kinematic relationships between objects. Impact and temporary contact are handled, though currently using simple models. User-directed influence of simulations is achieved using Newton's control module, which can be used to experiment with the control of many-degree-of-freedom articulated objects. (rh)