Game Development Reference
In-Depth Information
D'Alembert's principle also applies to rotations:
τ
=
τ i
i
which include the torques generated from off-center forces.
The separating velocity of two colliding objects v s is related to their velocity im-
mediately before the collision v c by
v s =−
cv c
where c is the coefficient of restitution.
D.6
O THER F ORMULAE
Hook's law relates the force of a spring f to its length:
k |
l 0 d
f
=−
d
|−
where d is the vector from one end of the spring to another.
Simple fluid flow can be modeled with an aerodynamic tensor:
f a =
A v w
where f a is the resulting force, A is the aerodynamic tensor, and v w is the velocity of
the air.
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