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