Unity Kinetics Simulations

Static Friction Boxes

Goal: implement static fritction to existing rigid body code in C++ to allow an object to come to rest as it moves along the ground.

Unity Physics Simulations

Inverse Kinematics

Goal: complete code for an inverse kinematics system that will allow an articulated rigid body to reach towards a point clicked by the mouse. This sytem was coded in C++ and required computing the Jacobian matrix and updating the positions of the end effectors.