From Particles to Rigid Bodies
           • Particles                      • Rigid bodies
               – No rotations                   – 6 DoFs (translation + rotation)
               – Linear velocity v only         – Linear velocity v
               – 3N DoFs                        – Angular velocity ω
                                      COMP768- M.Lin
                          Outline
         • Rigid Body Representation
         • Kinematics
         • Dynamics
         • Simulation Algorithm
         • Collisions and Contact Response
                              COMP768- M.Lin
                      Coordinate Systems
                        Body Space
         • Body Space (Local Coordinate System)
             – Rigid bodies are defined relative to this system
             – Center of mass is the origin (for convenience)
                 • We will specify body-related physical properties (inertia, …) 
                   in this frame
                                        COMP768- M.Lin
                    Coordinate Systems
                                                    World Space
           • World Space:
             rigid body transformation to common frame
                     translation                    rotation
                                   COMP768- M.Lin