Design of a dynamic simulation system for VR applications

A dynamic simulation system for VR applications consists of multiple parts. The first task that must be accomplished is the generation of complex dynamic models. A 3D modelling tool is required that supports the definition of joint constraints and dynamic parameters. For the dynamic simulation of the generated models a modular simulator is required. This simulator must handle constrained models, detect and resolve collisions regarding dynamic and static friction, manage user interactions and provide the possibility of extensions. It also requires an interface for the output of the simulation data. There exist several different methods for the dynamic simulation of joint constraints, for collision detection and for the handling of collisions and resting contacts with friction. The simulation system should support multiple of these methods and provide the possibility to exchange them at runtime.