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Animation techniques for controlling passive simulation are commonly based on an optimization paradigm: the user provides goals a priori, and sophisticated numerical methods minimize a cost function that represents these goals. Unfortunately, for multibody systems with discontinuous contact events these optimization problems can be highly nontrivial to solve, and many-hour offline optimizations, unintuitive parameters, and convergence failures can frustrate end-users and limit usage. On the other hand, users are quite adaptable, and systems which provide interactive feedback via an intuitive interface can leverage the user's own abilities to quickly produce interesting animations. However, the online computation necessary for interactivity limits scene complexity in practice.
Twigg et al. (Sun,) studied this question.
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