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.