ABSTRACT

W e saw back in Section 2.6 that the method we use for integrating canplay a significant role in the accuracy of the simulations we produce. It will be useful to review that section before proceeding forward. Up until this point,

we have used the simplest integration scheme, Euler integration, to illustrate our

simulations. However, we will quickly encounter a need for alternative integration

techniques, either because we want something more accurate, more stable, or more

efficient. In this chapter, we discuss several important ideas in integration, and

present in detail a few of the most common integration methods used in physically

based animation.