Evolve Ballistic Trajectory

Using the current state of each object and its linear and angular velocity and accelerations, the resulting ballistic trajectory for each object can be computed for this time step. Essentially we are evolving all of the objects in the system up to the point of the next collision. The time to collision estimate that we use for the time step was provided by the pair at the top of the collision heap. This heap element was removed at the beginning of the simulation loop.

Evolution of the ballistic trajectory of each object proceeds in parallel on all processors. No communication is necessary since all information is local to each of the processors, and speedup is linear for this section of the parallel code.

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Eric Paulos / paulos@robotics.eecs.berkeley.edu / 10 May 1995