Game Development Reference
In-Depth Information
F IGURE 14.1
The rotational and linear components of a collision.
given by
1
m f
p
=
¨
and the angular component by the torque
τ
=
p f ×
f
where the torque generates angular acceleration by
θ
I 1 τ
=
which is equation 10.3 from chapter 10.
In the case of the collision it stands to reason that the collision will generate a
linear change in velocity (the impulse) and an angular change in velocity. An instan-
taneous angular change in velocity is called an “impulsive torque” (also rarely called
“moment of impulse” or “impulsive moment,” which sounds more like a drunken
Vegas wedding to me). 1
Inthesamewayaswehave
I θ
τ
=
for torques we have
I θ
u
=
1. Strictly speaking, what we've called impulse is “impulsive force.” We could also call it “linear and an-
gular impulse,” but I'll continue to use just “impulse” to refer to the linear version.
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