I am having hard time learning the method of impulse based dynamics developed by Mirtich for rigid body dynamics simulation. Please help me out if any body has any example code(algorithm) of it. Thanks.

  • $\begingroup$ Welcome to SciComp.SE. It's not clear what you are asking. Where are you struggling? $\endgroup$
    – nicoguaro
    Jul 5, 2019 at 19:04
  • $\begingroup$ Actually, I am struggling with physics of impulse based dynamics. It doesn't follow the molecular dynamics pattern. I was looking for an step by step algorithm if available anywhere on the internet. or maybe code in any language if available. Just a reference will be fine. Thanks. $\endgroup$
    – user24234
    Jul 6, 2019 at 5:55

1 Answer 1


I don't think you will find anything better than a very detailed set of pseudocodes from Brian Mirtich's Ph.D. thesis. In his thesis, almost every algorithm required to be implemented for rigid body simulation is described in this form and should be implementable with enough effort.

The thesis would be, in my opinion, a much better starting point compared to the paper you linked in your question.


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.