仿真基础

机器人仿真的核心概念：物理引擎、接触动力学、碰撞检测、渲染管线，以及仿真精度与速度的权衡。

Learning Objectives

1. Why Simulate?

1.1 Simulation vs. Real World

1.2 Use Cases: Testing, Training, Digital Twins

2. Physics Engines Overview

2.1 Rigid Body Dynamics

2.2 Contact & Collision Models

2.3 Constraint Solvers

3. Collision Detection

3.1 Broad Phase (AABB, BVH)

3.2 Narrow Phase (GJK, EPA)

4. Simulation Stepping

4.1 Fixed vs. Adaptive Time Steps

4.2 Synchronous vs. Asynchronous

5. Rendering in Simulation

5.1 Ray Tracing vs. Rasterization

5.2 Domain Randomization

6. Accuracy vs. Performance

7. Comparison of Physics Engines

Exercises

References