Rigid Body Dynamics (unconstrained). Simulation Basics. State vector of a single particle. Change of Y(t) over time. Solved by any ODE solver (Euler, Runge-Kutta, etc.). Body space Origin: center of mass p 0 : an arbitrary point on the rigid body, in body space.
State vector of a single particle
Change of Y(t) over time
Solved by any ODE solver (Euler, Runge-Kutta, etc.)
No effect on the angular momentum
Gravity does not exert torque
Angular momentum stays the same