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Module 2 - Part 2: Physics Modeling

Overview​

This section covers physics modeling in simulation environments.

Rigid Body Dynamics​

Mass Properties​

  • Mass and center of mass
  • Moment of inertia
  • Material properties

Joint Constraints​

  • Prismatic joints
  • Revolute joints
  • Fixed joints

Collision Detection​

Collision Geometry​

  • Primitive shapes
  • Mesh collision
  • Compound collision

Contact Parameters​

  • Friction coefficients
  • Restitution coefficients
  • Contact damping

Environmental Physics​

Gravity and Forces​

  • Gravitational forces
  • External forces
  • Torque application

Fluid Dynamics​

  • Air resistance
  • Water simulation
  • Environmental effects

Practical Implementation​

Physics Configuration​

<!-- Example physics configuration -->

Collision Models​

  • Simple collision models
  • Complex collision models
  • Performance optimization