Claude Lacoursiere’s thesis on variational techniques for rigid bodies:
Ghosts and Machines: regularized variational methods for interactive simulations of multibodies with dry frictional contacts
The science of simulating physics for human visual consumption.
Claude Lacoursiere’s thesis on variational techniques for rigid bodies:
Ghosts and Machines: regularized variational methods for interactive simulations of multibodies with dry frictional contacts