Movies by Impulse.

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These movies illustrate pure impulse-based dynamics. The time taken to run the simulations in this group ranged from 4 to 78 seconds (on an R4400 Indigo Extreme).

Falling dominos (0.5 MB)

Momentum transfer through chain of balls (1.4 MB)

Coins colliding on a plane (1.8 MB)

Dropping balls into a shallow dish (1.3 MB)

Pool break (0.5 MB)

Bowling a strike (1.6 MB)

Nonholonomic system: ball on spinning platter (3.4 MB)

The rattleback top (3.2 MB)

Parts feeding with the Goldberg widget (2.4 MB)

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Hybrid simulation is a way of combining impulse-based simulation with traditional constraint-based techniques. Contact between different articulated bodies is modeled with impulses, while constraint equations govern relative motion at joints. The movies below illustrate some possibilities.

Balls spinning a see-saw (2.1 MB)

A primitive part sorter (3.3 MB)

Triple pendulum knocking balls in a dish (3.2 MB)

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Recent research with Impulse supports control and behavior systems that can be attached to objects. By building on top of a robust and physically accurate dynamic simulator, simple control and bhavior laws can give rise to rich, interesting motion. (These movives are in .avi format; they are playable in unix via xanim.)

Rearranging furniture in a room (13.2 MB)

Rover anihilating crawling bugs (14.2 MB)

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Brian Mirtich / mirtich@cs.berkeley.edu / 25 July 1995