C++ Implementation of Analytical Frictional Impact Dynamics Model

I published my C++ implementaion of frictional impact dynamics model FIDynamics presented in the paper Batting an In-Flight Object to the Target by Professor Jia Yan-bin and Mu Xiaoqian. Using Figure 3.(b-f) of the paper, we made a few test-examples to show the FIDynamics API usage.

FIDynamics assumes Stronge’s energetic coefficient of restitution and computes the impulse and post-impact states analytically. The average computation time is between 0.15-0.2ms which is fast enough to be used in real-time control.

Performance-wise, compared to the state-of-the-art impact dynamics model, e.g., Section 11.7 of the book: Rigid body dynamics algorithms by Roy Featherstone, FIDynamics is able to predict the post-impact contact modes, computes the post-impact tangential impulse, and post-impact angular velocity.