A Versatile Quaternion-Based Constrained Rigid Body Dynamics
Guirec Maloisel, Ruben Grandia, Christian Schumacher, Espen Knoop, Moritz Bächer
Journal
SIGGRAPH 2025
Rigid Body Dynamics
Quaternion
Kinematic Constraints
Implicit Integration
Differentiable Simulation
Multibody Dynamics
Lagrange Multipliers
Mechanism Simulation