L. De-gilbert-donne-la, distance entre deux poly edres et il retourne les deux points les plus proches P A ;P B 11. Lorsque les deux poly edres s'interp en etrent 22, l'algorithme peut ne pas donner une distancen egative correcte 33, car il est bas e sur un test local de distance, p.92

A. Erieur-de-la-zone-z,-n-'importe-quel-d-eplacement-~-z-i,-~-z-j and .. , de O va donner une nouvelle direction de contact ~ n i ,~ n j ,... qui est plus proche de la vraie valeur de la direction du contact ~ n, p.94

A. Pour-trouver-~-n-i+1, O. , and A. , eplace A par rapport a B selon la direction ~ n i A=B de mani ere que leurs enveloppes convexes soient s epar ees, puis l'application de l'algorithme de Gilbert donne ~ n i+1 A=B, p.96

D. , F. , A. Sont-en-contact, F. , and B. , bb Les r egions de contact sont R 1 A ;R 2 A ;R 3 A ;R 4 A et R 1 B ;R 2 B ;R 3 B ;R 4 B . cc R 1 A ;R 2 A ;R 3 A ;R 4 A ;R 3 B ;R 4 B est le volume compris entre F i A, p.107

.. La-force-de-la-viscosit-e-facette, appliqu ee sur une facette, d epend de la projection de la surfaced el af a c ette sur un plan, p.111

L. 'algorithme-de and L. , etection de contact est robuste pour des valeurs d'interp en etration signiaecatives entre les deux enveloppes convexes de deux poly edres, p.112

.. La-diae-erence-entrelecomportement-d, une roue qui tourne sur la rampe tout en restant coll ee avec elle, et le comportement d'un cube qui quitte la rampe plusieurs fois pendant la chute, p.114

D. La-main, Salisbury en train de se conaegurer pour saisir un objet. La conaeguration g eom etrique est bonne. Le simulateur physique serviraa a v eriaeer si la saisie est dynamiquement stable, p.125

U. Rep-ere-aexe-est-li-ea-uf-emur-et-un-rep-ere-mobile-est-li-e-au-tibia and .. , La aegure montrel ap osition de rep ere mobile dans les deux positions extr^ emes du tibia, p.130

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.. De-droite-a-gauche, la vitesse de l'organe aenal, sa distance et la vitesse d'ex ecution, p.157

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