15-860: An Introduction to Physically Based Modeling

Course notes:

• Differential Equation Basics
• Particle Dynamics
• Particle Collisions
• Penalty Methods
• Constrained Dynamics
• Constrained Particle Crib Sheet
• 3D Rigid Body Concepts Sheet. Some derivations in this document are deferred to here .
• A cheat sheet on connectors to help you implement the particle/rigid-body assignment.

Assignments:

• Assignment 1: Diffyqs
• Assignment 2: Mass-and-spring Simulation
• Assignment 3: A Bead on a Wire
• Assignment 4: Tinkertoys (Code for solving the linear systems is provided in the files matrix.h and matrix.c . Read "matrix.h" for documentation. A sample test program is mtest.c .)
• Assignment 5: Rigid Bodies with Constraints
• Assignment 6: Critters