Tackling Physics

Getting rag doll to move
Prevent clipping
realistic/natural looking interactions
motion variety

crude character control
- capsule around
-avoid interpenetration
-no local deformation
-Occupy too mush space

Use joint limit to constraint joint movement

Keyframing physics
- add velocity

Turn Down the mass
set velocity on dynamic radoll

The root of the problem
- Allow ...

Adding Muscle!! to solve problem

Two problem:
1. convergence & stability
2.Contact force

- use external force to minimize error

Further reading

Solution 2:
- calculate desired torquers from world space orientation
- week root spring


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