A virtual pendulum manipulation system on a graphic workstation

We developed a virtual handling system of a pendulum in three-dimensional virtual space. In this system we realized two kinds of interaction-batting interaction (hitting the pendulum with a racket) and KENDAMA interaction (manipulating a saucer connected to the pendulum with a string so as to position the pendulum on the saucer). In order to implement these physically-based real time interactions with a pendulum, we derived simplified models of a rebounding motion, a parabolic motion, a motion of loose string, a swing of a pendulum, etc. To reduce a large amount of computation time for the generation of these physical motions, good approximate models for each motion were developed