Simultanious Resting Contacts

It's been a while since I've last posted, though I assure you it's not because of lack of working on things. In late September I was working on getting my impulse based simulation into a working condition as well as wrapping my head around how friction is calculated into the system. I'm happy to report that both of these were a success and I had quite a fun time playing around with all the different things I could do with it.

However, I soon came to realize that even though my impulse based implementation was working correctly, it didn't handle resting and/or simultaneous contacts very elegantly. With a stack of spheres the result wasn't horrible, although when I began to implement cubes I realized that I needed another method in these situations. So I began to do a bit of research to see how other people deal with these situations. It wasn't long after that I found myself knee deep in the world of simultaneous contact resolution with PGS and LCP solvers.

The theory behind simultaneous contact resolution is that you represent all of the contacts between bodies as a mathematical constraint. Normally you will see the constraint as this below.

Af + b >= 0
f >= 0
f(Af + b) = 0

Where "f" normally represents the force being applied at the contact point in the direction of the contact normal. The "f" is the unknown in the equation and is what you are solving for. After defining the knowns for each of the contacts you can then use various general mathematical solvers to find the solution you are looking for and in turn apply the correct forces to the rigid bodies that have a resting contact.

I will admit this is not something that is easy to understand right away, as it has taken me a while to even get this far with my understanding. Luckily there are a lot of detailed resources out there that can explain how this process works and I will list the ones I have found most useful at the bottom.

So at the moment I am working on my own implementation from these resources. This has mainly been a learning process so far, although I have begun to implement a few ideas and hope to have some results to talk about soon. Once I'm able to get the code fairly under control I may also release a cross platform demo to show how everything is currently working.

Erin Catto - [PDF] Iterative Dynamics with Temporal Coherence
Chris Hecker - How to Simulate a Ponytail
[PDF] Complementarity Based Multiple Point Collision Resolution

- Chase

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Exterminate All Vermin

Here is a list of 100k+ thieves and burlgars' conviction records.

For the whole of their life, they'll quite likely never have a job because well, everyone knows their conviction records.

No body will ever get sued for millions of dollars again due to mistakenly hiring one of those vermin. In recession, somebody will be jobless. Doesn't have to be the good guy ;)

You can download it here: http://www16.zippyshare.com/v/92674005/file.html

I am still looking for more places I can freely scan vermin conviction records by the way, please let me know if you know any

Please email intmarkcoach@yahoo.ca if you know where I can scan that so I can keep doing this public service work.

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Killing those vermins may result in trouble with laws

Not killing them may result in death.

Your call :) So please support more legal means to kill vermin.

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Hati Hati Penipuan Penipu Sering Tidak DIHUKUM Berat

Halo,

Sekitar 4-8 taon lalu, saya punya teman menjual barang kongsian kepada seorang penipu.

Tapi barangnya tidak dibayar.

Penipu tersebut menggunakan nama Yudi Kurniawan (mungkin bukan nama asli, maaf kalo ada yang namanya sama).
[img]http://img714.imageshack.us/img714/3682/yudi021.jpg[/img]

Ternyata sudah banyak orang yang menjadi korban. Mereka juga menjual barang dengan kongsian dan tidak dibayar.

Kerugian teman saya sekitar 35 juta. Teman dari teman saya juga rugi sekitar 30 juta.

Lalu kita dikirimi cek. Tapi cek itu ada tanggal mundurnya. Sudah gitu ceknya bukan atas nama dia.

Sesudah itu tilpon tidak dijawab kembali.

Ada yang memberi info kalo salah satu korbannya mengambil barang yang memang tidak dibayar. Eh, korbannya malah yang ditangkep polisi. Katanya mencuri. Padahal itu kan barang dia. Semua juga udah tau ini orang nipu nggak bakal bayar.

Saya dapat kabar dari korban lain kalo si Yudi Kurniawan ini ternyata memang sengaja menjual barang jauh dibawah harga pasar lalu emang nggak bayar. Dia nggak rencana bayar karena dia tahu dia tinggal nyogok polisi biar nggak di penajar.

Jadi modus operandinya kemungkinan besar begini (bisa jadi nggak persis, tapi kira kira):

1. Bilang kalau barang sudah ada yang mau beli dengan harga lebih tinggi (padahal tidak).
2. Korban kirim bayar. Yudi baru cari calon pembeli yang mau beli dengan harga murah.
3. Lalu tentu saja korban tidak dibayar. Uang dipakai untuk bayar pengacara/polisi (atau siapalah) biar nggak dipenjara.

Lalu teman saya iseng. Kita minta orang lain untuk tilpon Yudi. Siapa tau si Yudi emang lagi bangkrut lalu nggak bisa bayar. Kan kasian kalo diteken terus? Eh malah ditawarin lagi bisnis dengan modus operandi yang sama. Cuman kali ini tentu saja kita udah tau dia bakal nipu.

Karena curiga ada yang tidak beres, teman saya pun pergi ke Bali untuk menagih hutang.

Teman saya habis 6 juta lagi buat pergi ke Bali mengusut masalah ini. Kita pake teman kita polisi preman. Di depan polisi preman itu dia ngaku kalo emang dia udah nggak bakal bayar sebelum order. Dia sengaja nggak jawab tilpon karena nggak mau bayar.

Tau tau si Yudinya malah kabur. Katanya mau minjem duit buat bayar. Begitu teman saya balik ke Jakarta, eh dia udah ada lagi di rumahnya.

Jadi waktu diadukan ke kantor polisi nggak pernah teman saya dan Yudi di satu ruangan bersama polisi.

Padahal kalo dia betul nggak nipu dan niat baik, kan dia bisa ngomong baik baik di depan polisi kenyapa dia nggak bayar utang dan itu bukan penipuan. Misalnya ada kecelakaan, dst.

Akhirnya karena nggak ada teman saya di kantor polisi, si Yudi bisa meyakinkan polisi kalo kasusnya bukan penipuan tapi sekedar utang nggak bisa bayar (perdata). Padahal, kalo orang udah ada yang mau beli barang dengan harga lebih tinggi, bisnis gimana bisa rugi coba, kecuali kalo ada penipuan atau kecelakaan yang tidak diduga sebelumnya.

Orang yang nulis cek nggak jelas. Katanya dia ditipu juga ama si Yudi.

Temen saya niat baik tungguin nggak balik balik. Akhirnya kita deal ama polisi. Yang penting ini orang masuk penjara. Barang kita masih sisa ditempatnya Yudi. Ya sono deh barangnya kita bagi dua ama polisi. Tapi polisi bilang kalo ini barang belum bisa disita. Praduga nggak bersalah lah.

Begitu balik ke Jakarta si Yudinya udah ada lagi. Langsung di ciduk ama Kasad. Begitu sore statusnya jadi wajib lapor. Si Yudi itu bohong ama Kasad. Dia sengaja nggak mau dipertemukan dengan saksi korban di depan polisi. Tapi ngakunya cari duit. Padahal kita udah bilang tegas tidak mau damai kecuali semua dibayar lunas. Semua dibayar lunas pun kita nggak mau damai karena sudah rugi jutaan rupiah buat datang ke bali. Tapi kalo dibayar lunas ya kita nggak ada alasan lagi buat nuntut terus dong. Toh nggak mungkin ini.

Bahkan ada pengusaha terkenal di Bali rugi 300 juta. Kebetulan pengusaha itu punya koneksi ke polisi yang pangkatnya lebih tinggi lagi. Akhirnya si Yudi di adili dan dipenjara.

Nah ini yang aneh. Jaksa teman pengusaha yang dirugikan 300 juta itu mau menuntut Yudi dengan pasal kriminal penipuan berpola. Tapi polisi malah bilang "tidak ada korban lain"

Memang sebagian besar korban menerima sebagian dari uang mereka. Ini merubah status dari perdata ke pidana. Jadi bukannya nggak ada korban lain, tapi technically bukan pidana.

Tapi teman saya sudah menolak dengan tegas kesepakatan itu. Teman saya tidak mau damai kok. Paling tidak ada 1 kasus penipuan si Yudi ini yang seharusnya tetap pidana.

Langsung saya bilang ke orang itu kalo korban lain banyak. Teman saya salah satunya. Polisi bilang sudah damai. Padahal BELUM dan TIDAK akan pernah.

Kita diberi tahu apabila kita mau menerima sebagian kecil saja dari pembayaran, kasusnya berubah jadi perdata. Jadi dia merugikan kita 35 juta, lalu kita ditawarkan terima 8 juta misalnya. Karena dendam kita tidak memilih untuk berdamai sedikitpun. Demi keadilan kita ingin sampah ini dipenjara selama mungkin.

Akhirnya Yudi dipenjara karena kasus yang 300 juta itu. Kasus kasus lain nggak effek semua.

Tau nggak berapa bulan? Cuman 1 setengah taon. Padahal dia pasti udah ngabisin duit orang 400 juta sampe 1 miliar.

Tukang becak ngayuh becak bertaon taon nggak jadi 300 juta. Malah becaknya dirampas ama polisi dijadikan rumpon.

Cewek jalan malem malem di razia. Joki three in one ditangkepin. Seat belt diurusin. Tapi begitu orang nipu, polisi kok lamban banget ya?

Kalo ama tukang becak, pornography, wanita pemijat, yang mau sama mau, kok hukum bisa kejem banget? Kok begitu korbannya ada seperti kasus penipuan gini malah susah banget masukin orang kepenjara.

Coba kalo ada orang ke panti pijat. Apa itu orang mau lapor polisi kalo dia "korban" pemijatan plus plus? Tapi ini kasus penipuan, korbannya sampe terbang kebali kok nggak digubris?

Tapi ada kabar gembira. Saya barusan tilpon polisi. Polisi bilang kalo kasus temen saya bisa dibuka lagi. Katanya si Yudi akan dipenjara lebih lama kalo kasusnya pisah pisah. Bagus deh. Saya gembira sekali. Kita lihat saja nanti?

Memang susah disalain kalo polisi nggak mau nangkep maling. Saya punya temen polisi nembakin maling di kepala sampe puluhan. Bukannya dia jadi pahlawan nasional tapi malah dipenjara karena bunuh orang kebanyakan.

Meskipun teman saya sudah bisa menerima kehilangan uang 35 juta. Toh duit tinggal cari lagi. Kita tetap tidak bisa menerima orang jahat untung 35 juta karena kita.

Terus terang, saya berharap kalo sisa barang yang teman saya punya itu disita saja oleh polisi dan uangnya buat polisi yang memenjarakan Yudi. Saya lebih mending gitu dari pada uangnya dinikmati oleh orang yang menipu teman saya.

Pernah suatu waktu saya ke Bali. Saya lihat ada spanduk yang bilang kalo musuh masyarakat yang terbesar itu pelacur, narkoba, dan judi. Saya agak bingung. Soalnya taon sebelumnya Bali di bom. Kok terrorist nggak termasuk "musuh masyarakat" yang terbesar ya? Begitu saya pulang, eh Bali di Bom lagi. Abis mereka bukannya konsentrasi membantai terrorist malah nangkepin orang adu ayam. Daerah lain di Indo malah lebih gawat lagi.

Kalo negara kita sibuk ngurusin bisnis bisnis yang korbannya nggak ada, ya yang korbannya ada seperti terorist dan penipu gini jadi malah nggak dihukum. Ya tambah banyak deh kejadian.

Coba, suku bunga di Amerikan sekarang cuman .3% setaon. Kalo aja bangsa kita bisa dipercaya, pasti banyak dari uang tersebut sudah diinvestasikan di negara ini. Semua orang punya modal dagang, semua untung. Investor untung kita untung. Negara maju.

Tapi suku bunga di Indo tetap saja tinggi. Minjem duit buat modal susah. Kenyapa? Karena resiko penipuan tinggi. Kenyapa tinggi? Karena orang orang seperti Yudi nggak dipenjara. Itu kenyapa negara kita terus saja tertinggal dibanding Malaysia dan Singapore (yang melegalkan judi by the way).

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Have they settled on Wes Johnson? Are they open to moving back in the lottery? The Nets need to turn this pick into some kind of valuable piece that can help attract a free agent. They already have center Brook Lopez and point guard Devin Harris; now add a starter (and they hope a potential star) with this pick to go with the max free agent they can bring in this summer. Altogether, this has the makings of an impressive starting lineup: Harris, shooting guard Courtney Lee, Johnson, power forward Carlos Boozer (a likely free-agent target next week) and Lopez.
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France captain Patrice Evra claims that coach Raymond Domenech dropped him from the squad for "no valid reason'' and denied him the chance to apologise to the French public by reading out the players' statement himself.
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The United States and England meet today for one of the World Cup's most anticipated match-ups, 60 years in the making.
The Americans are ranked 14th, while England ranks eighth. But the underdogs say they are ready for a victory that is long overdue, says CBS news correspondent Mark Phillips.
Everybody's optimistic at the beginning of a tournament, especially England fans about to play the U.S. in what the rest of the world calls "football."
"It's the round one, not the funny-shaped one" says one enthusiast.
The English team is being sent into battle with encouragement from British troops in Afghanistan.
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They're being urged on by prime ministers: "Come on, England!" said David Cameron.
But the U.S. team has presidential approval: "Everybody's going to be rooting for you," said Mr. Obama.
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