rigid body dynamics and simulation(刚体动力学仿真)

lagrange multiplier velocity based model (拉格朗日乘数速度模型)

Trinkle/Stewart and Anitescu/Potra

joint (关节点): ball, hinge,  slider

first order integrator(一阶积分)

Contact and friction model: Dantzig LCP solver(丹泽尔线性补偿模型) by Baraff

Coloumb friction model(库伦摩擦，也称为干摩擦, 静摩擦)

ERP (error reduction parameter)

CFM(constraint force mixing)

square diagonal matrix(对角矩阵)

spring and damper constants(弹簧和阻尼约束器):

spring: kp  dampler:  kd , stepSize: h ---> ERP = hkp/(hkp + kd),  CFM = 1/(hkp + kd) 

friction coefficient 摩擦系数

Coulomb friction model : |fT | <= μ * |fN| 

Degrees Of Freedom(自由度):

temporal coherence (时间相干性)

singularities(奇异性）

inertia (惯性）