Featherstone's algorithm
Encyclopedia
Featherstone's algorithm is a technique used for computing the effects of forces applied to a structure of joints and links (an "open kinematic chain") such as a skeleton
used in ragdoll physics
.
The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular Lagrange multiplier method, which uses maximal coordinates. Brian Mirtich's PhD Thesis has a very clear and detailed description of the algorithm. Baraff's paper "Linear-time dynamics using Lagrange multipliers" has a discussion and comparison of both algorithms.
Skeleton
The skeleton is the body part that forms the supporting structure of an organism. There are two different skeletal types: the exoskeleton, which is the stable outer shell of an organism, and the endoskeleton, which forms the support structure inside the body.In a figurative sense, skeleton can...
used in ragdoll physics
Ragdoll physics
In computer physics engines, ragdoll physics is a type of procedural animation that is often used as a replacement for traditional static death animations.-Introduction:Early video games used manually-created animations for characters' death sequences...
.
The Featherstone's algorithm uses a reduced coordinate representation. This is in contrast to the more popular Lagrange multiplier method, which uses maximal coordinates. Brian Mirtich's PhD Thesis has a very clear and detailed description of the algorithm. Baraff's paper "Linear-time dynamics using Lagrange multipliers" has a discussion and comparison of both algorithms.