Game Physics Pearls

 Content: GAME PHYSICS 101 Mathematical Background Introduction  Vectors and Points  Lines and Planes  Matrices and Transformations Quaternions  Rigid-Body Dynamics Numerical Integration Further Reading  Understanding Game Physics Artifacts Introduction Discretizalion and Linearization  Time Stepping and the Well of Despair The Curse of Rotations Solver  Collision Detection Joints  Direct Animation  Artifact Reference  COLLISION DETECTION Broad Phase and Constraint Optimization for PlayStation 3 Introduction  Overview of CellBE Optimization of the Broad Phase  Optimization of the Constraint Solver Conclusion   SAT in Narrow Phase and Contact-Manifold Generation Introduction  Contact Manifold  Physics Engine Pipeline  SAT Basics  Intuitive Gauss Map Computing Full Contact Manifolds SAT Optimizations  Smooth Mesh Contacts with GJK Introduction Configuration Space Support Mappings  Overview of GJK  Johnson's Algorithm Continuous Collision Detection Contacts  Conclusion  PARTICLES Optimized SPH Introduction  The SPH Equations  An Algorithm for SPH Simulation The Choice of Data Structure  Collapsing the SPH Algorithm Stability and Behavior Performance  Conclusion  Appendix: Scaling the Pressure Force  Parallelizing Particle-Based Simulation on Multiple Processors  Introduction Dividing Computation  Data Management without Duplication Choosing an Acceleration Structure  Data Transfer Using Grids  Results Conclusion   CONSTRAINT SOLVING  Ropes as Constraints  Introduction Free-Hanging Ropes  Strained Ropes  Quaternion-Based Constraints  Introduction Notation and Definitions  The Problem Constraint Definitions Matrix-Based Quaternion Algebra A New Tale on Quaternion-Based Constraints Why It Works More General Frames  Limits and Drivers Examples  Conclusion   SOFT BODY Soft Bodies Using Finite Elements Introduction  Continuum Mechanics Linear FEM Solving the Linear System Surface-Mesh Update  Particle-Based Simulation Using Verlet Integration Introduction  Techniques for Numerical Integration  Using Relaxation to Solve Systems of Equations Rigid Bodies  Articulated Bodies Miscellaneous Conclusion  Keep Yer Shirt On Introduction  Stable Real-Time Cloth Modeling Real Fabrics Performance  Order of Cloth Update Stages  Conclusion, Results, and Future  SKINNING Layered Skin Simulation Introduction  Layered Deformation Architecture Smooth Skinning  Anatomical Collisions Relaxalion Jiggle  Conclusion  Dynamic Secondary Skin Deformations Introduction  The Interaction Model  Neighborhood Interaction Volumetric Effects Final Remarks  Index  A Bibliography appears at the end of each chapter.