{"id":2141,"date":"2026-08-31T08:10:31","date_gmt":"2026-08-31T08:10:31","guid":{"rendered":"https:\/\/wayhope.kro.kr\/?p=2141"},"modified":"2026-08-31T08:10:31","modified_gmt":"2026-08-31T08:10:31","slug":"%ea%b2%8c%ec%9e%84-%eb%ac%bc%eb%a6%ac-%ed%95%b5%ec%8b%ac-%ec%a0%95%eb%a6%ac","status":"publish","type":"post","link":"https:\/\/wayhope.kro.kr\/?p=2141","title":{"rendered":"\uac8c\uc784 \ubb3c\ub9ac \ud575\uc2ec \uc815\ub9ac"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\uac8c\uc784 \ubb3c\ub9ac\ub294 \ud604\uc2e4\uc758 \ubb3c\ub9ac \ubc95\uce59\uc744 \uadf8\ub300\ub85c \uacc4\uc0b0\ud558\ub294 \uac83\uc774 \uc544\ub2c8\ub77c <strong>\uac8c\uc784\uc5d0\uc11c \ud544\uc694\ud55c \uc218\uc900\uc73c\ub85c \uadfc\uc0ac\ud558\uc5ec \uc2e4\uc2dc\uac04\uc73c\ub85c \uacc4\uc0b0\ud558\ub294 \uc2dc\uc2a4\ud15c<\/strong>\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud575\uc2ec \uad6c\uc870\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc785\ub825\/\uc678\ub825 -&gt; \ubb3c\ub9ac \uc0c1\ud0dc -&gt; \ucda9\ub3cc \uac80\ucd9c -&gt; \uc811\ucd09\/\uc81c\uc57d \uc0dd\uc131 -&gt; Solver -&gt; \uc18d\ub3c4\/\uc704\uce58 \uac31\uc2e0<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uac8c\uc784 \ubb3c\ub9ac\uc5d0\uc11c\ub294 \ud2b9\ud788 <strong>\ucda9\ub3cc \uac80\ucd9c, \uc811\ucd09, \uc81c\uc57d \uc870\uac74, Solver<\/strong>\uac00 \uc911\uc694\ud558\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\ubb3c\ub9ac \uc5d4\uc9c4 \uad6c\uc870<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\ubb3c\ub9ac \uc5d4\uc9c4\uc740 \uac8c\uc784 \uc138\uacc4\uc758 \ubb3c\ub9ac \uc0c1\ud0dc\ub97c \uc2dc\uac04\uc5d0 \ub530\ub77c \uac31\uc2e0\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc77c\ubc18\uc801\uc778 \uad6c\uc870\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Game State -&gt; Physics Step -&gt; Collision Detection -&gt; Contact\/Constraint -&gt; Solver -&gt; Integration -&gt; Updated State<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc870\uae08 \ub354 \uad6c\uccb4\uc801\uc73c\ub85c \ubcf4\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc785\ub825 -&gt; \ud798\/\ud1a0\ud06c \uacc4\uc0b0 -&gt; Broad Phase -&gt; Narrow Phase -&gt; Contact \uc0dd\uc131 -&gt; Constraint \uc0dd\uc131 -&gt; Solver -&gt; \uc18d\ub3c4\/\uc704\uce58 \uac31\uc2e0<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc73c\ub85c \uc774\uc5b4\uc9c4\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uac01 \ub2e8\uacc4\uc758 \uc5ed\ud560\uc740 \uba85\ud655\ud558\uac8c \ubd84\ub9ac\ub41c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Broad Phase -&gt; \ucda9\ub3cc \ud6c4\ubcf4 \ud0d0\uc0c9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Narrow Phase -&gt; \uc815\ud655\ud55c \ucda9\ub3cc \ud310\uc815<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Contact -&gt; \uc811\ucd09 \uc815\ubcf4 \uc0dd\uc131<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Constraint -&gt; \ubb3c\ub9ac\uc801\uc73c\ub85c \uc9c0\ucf1c\uc57c \ud560 \uc870\uac74 \ud45c\ud604<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Solver -&gt; \uc81c\uc57d \uc870\uac74\uc744 \ub9cc\uc871\ud558\ub3c4\ub85d \uc0c1\ud0dc \uc218\uc815<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Integration -&gt; \uc18d\ub3c4\uc640 \uc704\uce58 \uac31\uc2e0<\/code><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Rigidbody<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Rigidbody<\/strong>\ub294 \ubb3c\ub9ac \uc5d4\uc9c4\uc5d0\uc11c \ubb3c\uccb4\uc758 \uc5ed\ud559\uc801 \uc0c1\ud0dc\ub97c \ub098\ud0c0\ub0b4\ub294 \uad6c\uc131 \uc694\uc18c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc77c\ubc18\uc801\uc73c\ub85c \ub2e4\uc74c\uacfc \uac19\uc740 \uc815\ubcf4\ub97c \uac00\uc9c4\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc9c8\ub7c9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc704\uce58<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ud68c\uc804<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc120\uc18d\ub3c4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uac01\uc18d\ub3c4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ud798<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ud1a0\ud06c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uae30\ubcf8\uc801\uc778 \uc6b4\ub3d9\uc740<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>F = ma<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc5d0 \ub530\ub77c \uacc4\uc0b0\ub418\uace0 \ud68c\uc804 \uc6b4\ub3d9\uc740<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\u03c4 = I\u03b1<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc5d0 \ub530\ub77c \uacc4\uc0b0\ub41c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Rigidbody\uac00 \uc874\uc7ac\ud55c\ub2e4\uace0 \ud574\uc11c \ubc18\ub4dc\uc2dc \ucda9\ub3cc\uc774 \ubc1c\uc0dd\ud558\ub294 \uac83\uc740 \uc544\ub2c8\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ucda9\ub3cc \ud615\uc0c1\uc744 \uc815\uc758\ud558\ub824\uba74 \ubcc4\ub3c4\uc758 <strong>Collider<\/strong>\uac00 \ud544\uc694\ud558\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uad6c\uc870\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Rigidbody -&gt; \ubb3c\ub9ac \uc0c1\ud0dc<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Collider -&gt; \ucda9\ub3cc \ud615\uc0c1<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Collider<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Collider<\/strong>\ub294 \ubb3c\ub9ac \uc5d4\uc9c4\uc5d0\uc11c \ucda9\ub3cc\uc744 \uac80\uc0ac\ud558\uae30 \uc704\ud55c \uae30\ud558\ud559\uc801 \ud615\uc0c1\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub300\ud45c\uc801\uc73c\ub85c<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Sphere<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Box<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Capsule<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Cylinder<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Convex Mesh<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Triangle Mesh<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc774 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Collider\uc758 \ubaa9\uc801\uc740 \ub80c\ub354\ub9c1\uc6a9 \ubaa8\ub378\uacfc \ub2e4\ub974\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uadf8\ub798\ud53d \ubaa8\ub378\uc740 \uc2dc\uac01\uc801\uc778 \ud45c\ud604\uc744 \uc704\ud55c \uac83\uc774\uace0 Collider\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc \ud310\uc815 -&gt; \uc811\ucd09 \uc815\ubcf4 \uc0dd\uc131<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc744 \uc704\ud55c \uac83\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub530\ub77c\uc11c \ubcf5\uc7a1\ud55c \ubaa8\ub378\uc744 \uadf8\ub300\ub85c \ucda9\ub3cc \ud615\uc0c1\uc73c\ub85c \uc0ac\uc6a9\ud558\ub294 \uac83\ubcf4\ub2e4 \ub2e8\uc21c\ud55c Collider\ub97c \uc5ec\ub7ec \uac1c \uc870\ud569\ud558\ub294 \uac83\uc774 \ud6a8\uc728\uc801\uc778 \uacbd\uc6b0\uac00 \ub9ce\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Render Mesh != Collision Shape<\/code><\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Broad Phase<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Broad Phase\ub294 \uc804\uccb4 Collider \uc911 <strong>\ucda9\ub3cc \uac00\ub2a5\uc131\uc774 \uc788\ub294 \uac1d\uccb4 \uc30d\uc744 \ube60\ub974\uac8c \ucc3e\ub294 \ub2e8\uacc4<\/strong>\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ubaa8\ub4e0 Collider\ub97c \uc11c\ub85c \ube44\uad50\ud558\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>N\uac1c\uc758 \uac1d\uccb4 -&gt; O(N\u00b2) \ube44\uad50<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uac00 \ud544\uc694\ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Broad Phase\ub294 \uacf5\uac04 \uc815\ubcf4\ub098 \ub2e8\uc21c\ud55c \uacbd\uacc4 \uc0c1\uc790\ub97c \uc774\uc6a9\ud574 \uac80\uc0ac \ub300\uc0c1\uc744 \uc904\uc778\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub300\ud45c\uc801\uc778 \ubc29\ubc95\uc740<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>AABB<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Bounding Volume<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Sweep and Prune<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Spatial Hash<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>BVH<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ubaa9\uc801\uc740 \uc815\ud655\ud55c \ucda9\ub3cc \uac80\uc0ac\uac00 \uc544\ub2c8\ub77c<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc \uac00\ub2a5\uc131\uc774 \uc5c6\ub294 \uac1d\uccb4 \uc81c\uac70<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uad6c\uc870\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc804\uccb4 \uac1d\uccb4 -&gt; Broad Phase -&gt; \ucda9\ub3cc \ud6c4\ubcf4 \uc30d<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Narrow Phase<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Narrow Phase\ub294 Broad Phase\uc5d0\uc11c \ucd94\ub824\uc9c4 \ud6c4\ubcf4\uc5d0 \ub300\ud574 <strong>\uc2e4\uc81c Collider \ud615\uc0c1\uc774 \ucda9\ub3cc\ud558\ub294\uc9c0\ub97c \uc815\ubc00\ud558\uac8c \uacc4\uc0b0\ud558\ub294 \ub2e8\uacc4<\/strong>\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Sphere vs Sphere<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Box vs Box<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Capsule vs Mesh<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc758 \uc2e4\uc81c \uae30\ud558\ud559\uc801 \uad00\uacc4\ub97c \uacc4\uc0b0\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud544\uc694\ud55c \uacbd\uc6b0 \ub2e4\uc74c\uacfc \uac19\uc740 \uc815\ubcf4\ub3c4 \uc0dd\uc131\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc \uc5ec\ubd80<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc\uc810<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc \ubc95\uc120<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uce68\ud22c \uae4a\uc774<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774 \uacb0\uacfc\uac00 Contact \uc0dd\uc131\uc73c\ub85c \uc774\uc5b4\uc9c4\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc804\uccb4 \ud750\ub984\uc740<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Broad Phase -&gt; \ud6c4\ubcf4 \uc30d -&gt; Narrow Phase -&gt; \uc815\ud655\ud55c \ucda9\ub3cc \uc815\ubcf4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Contact<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Contact<\/strong>\ub294 \ub450 \ubb3c\uccb4\uac00 \uc11c\ub85c \uc811\ucd09\ud558\uace0 \uc788\ub2e4\ub294 \ubb3c\ub9ac\uc801 \uc815\ubcf4\ub97c \ub098\ud0c0\ub0b8\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc77c\ubc18\uc801\uc73c\ub85c \ub2e4\uc74c\uacfc \uac19\uc740 \uc815\ubcf4\uac00 \ud544\uc694\ud558\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Contact Point<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Contact Normal<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Penetration Depth<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc0c1\ub300 \uc18d\ub3c4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4 \ubc14\ub2e5\uacfc \uce90\ub9ad\ud130\uac00 \uc811\ucd09\ud558\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc811\ucd09\uc810 -&gt; \uce90\ub9ad\ud130\uc640 \ubc14\ub2e5\uc774 \ub9de\ub2ff\uc740 \uc704\uce58<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubc95\uc120 -&gt; \ubc14\ub2e5\uc5d0\uc11c \uce90\ub9ad\ud130\ub97c \ubc00\uc5b4\ub0b4\ub294 \ubc29\ud5a5<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uce68\ud22c \uae4a\uc774 -&gt; \ub450 Collider\uac00 \uc5bc\ub9c8\ub098 \uacb9\ucce4\ub294\uac00<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub97c \uc758\ubbf8\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Contact \uc815\ubcf4\ub294 Solver\uac00 \ucda9\ub3cc\uc744 \ud574\uacb0\ud558\ub294 \ub370 \uc0ac\uc6a9\ud55c\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Constraint<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Constraint(\uc81c\uc57d \uc870\uac74)<\/strong>\ub294 \ubb3c\ub9ac \uc2dc\uc2a4\ud15c\uc774 \ubc18\ub4dc\uc2dc \ub9cc\uc871\ud574\uc57c \ud558\ub294 \uc870\uac74\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4 \ubc14\ub2e5\uacfc \ubb3c\uccb4\uac00 \uc811\ucd09\ud588\ub2e4\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubb3c\uccb4\uac00 \ubc14\ub2e5\uc744 \ud1b5\uacfc\ud558\uba74 \uc548 \ub41c\ub2e4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub77c\ub294 \uc81c\uc57d\uc774 \uc0dd\uae34\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub450 \ubb3c\uccb4\ub97c Joint\ub85c \uc5f0\uacb0\ud588\ub2e4\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ub450 \ubb3c\uccb4 \uc0ac\uc774\uc758 \ud2b9\uc815 \uac70\ub9ac \uc720\uc9c0<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uac19\uc740 \uc81c\uc57d\uc774 \uc0dd\uae34\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub530\ub77c\uc11c<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Contact -&gt; \uc811\ucd09 \uc81c\uc57d<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Joint -&gt; \uc5f0\uacb0 \uc81c\uc57d<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc73c\ub85c \uc0dd\uac01\ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uac8c\uc784 \ubb3c\ub9ac\uc5d0\uc11c\ub294 \ucda9\ub3cc\ub3c4 \uacb0\uad6d <strong>\uc81c\uc57d \uc870\uac74\uc744 \ub9cc\uc871\uc2dc\ud0a4\ub294 \ubb38\uc81c<\/strong>\ub85c \ubcfc \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">Solver<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Solver<\/strong>\ub294 \uc0dd\uc131\ub41c Constraint\ub97c \ub9cc\uc871\uc2dc\ud0a4\uae30 \uc704\ud574 \ubb3c\uccb4\uc758 \uc18d\ub3c4\ub098 \uc704\uce58\ub97c \uc218\uc815\ud558\ub294 \uacc4\uc0b0 \uacfc\uc815\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4 \ub450 \ubb3c\uccb4\uac00 \ucda9\ub3cc\ud588\ub2e4\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc -&gt; \uc0c1\ub300 \uc18d\ub3c4 \uacc4\uc0b0 -&gt; \ud544\uc694\ud55c \ucda9\uaca9\ub7c9 \uacc4\uc0b0 -&gt; \uc18d\ub3c4 \uc218\uc815<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc744 \uc218\ud589\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e8\uc21c\ud55c \ucda9\ub3cc\uc5d0\uc11c\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc \ubc95\uc120 + \uc0c1\ub300 \uc18d\ub3c4 + \uc9c8\ub7c9 + \ubc18\ubc1c -&gt; \ucda9\uaca9\ub7c9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc744 \uacc4\uc0b0\ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uadf8\ub9ac\uace0<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\uaca9\ub7c9 -&gt; \uc120\uc18d\ub3c4\/\uac01\uc18d\ub3c4 \uc218\uc815<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774 \ubc1c\uc0dd\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc811\ucd09\uc774\ub098 Joint\ucc98\ub7fc \uc5ec\ub7ec \uc81c\uc57d \uc870\uac74\uc774 \ub3d9\uc2dc\uc5d0 \uc874\uc7ac\ud558\uba74 Solver\ub294 \uc5ec\ub7ec \uc870\uac74\uc744 \ubc18\ubcf5\uc801\uc73c\ub85c \ucc98\ub9ac\ud574\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\uc81c\uc57d \uc870\uac74\uacfc Joint<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Joint\ub294 \ub450 Rigidbody \uc0ac\uc774\uc5d0 <strong>\ud2b9\uc815\ud55c \uc6b4\ub3d9 \uc81c\uc57d\uc744 \uc124\uc815\ud558\ub294 \uc7a5\uce58<\/strong>\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub300\ud45c\uc801\uc73c\ub85c<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Fixed Joint<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Hinge Joint<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Spring Joint<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Distance Joint<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc774 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4 \ud68c\uc804\ubb38\uc744 \uad6c\ud604\ud55c\ub2e4\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubb38 + Hinge Joint -&gt; \ud2b9\uc815 \ucd95\uc744 \uc911\uc2ec\uc73c\ub85c \ud68c\uc804<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud558\ub3c4\ub85d \ub9cc\ub4e4 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Joint\ub294 \ub2e8\uc21c\ud788 \ubb3c\uccb4\ub97c \uc5f0\uacb0\ud558\ub294 \uac83\uc774 \uc544\ub2c8\ub77c <strong>\ud5c8\uc6a9\ub418\ub294 \uc790\uc720\ub3c4(Degree of Freedom)\ub97c \uc81c\ud55c\ud558\ub294 \uac83<\/strong>\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">3\ucc28\uc6d0 \uac15\uccb4\uc758 \uacbd\uc6b0 \uae30\ubcf8\uc801\uc73c\ub85c<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubcd1\uc9c4 3\ucd95 + \ud68c\uc804 3\ucd95 = 6 DOF<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub97c \uac00\uc9c4\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Joint\ub294 \uc774 \uc911 \uc77c\ubd80\ub97c \uc81c\ud55c\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Hinge -&gt; \ud2b9\uc815 \ud68c\uc804\ucd95\ub9cc \ud5c8\uc6a9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud558\ub294 \ubc29\uc2dd\uc774\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\uc790\uc720\ub3c4\uc640 \uc81c\uc57d<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\uac15\uccb4\uc758 \uc6c0\uc9c1\uc784\uc744 \ub2e8\uc21c\ud654\ud558\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>X \uc774\ub3d9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Y \uc774\ub3d9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Z \uc774\ub3d9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>X \ud68c\uc804<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Y \ud68c\uc804<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Z \ud68c\uc804<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc758 6\uac1c \uc790\uc720\ub3c4\ub97c \uac00\uc9c4\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc81c\uc57d \uc870\uac74\uc744 \ucd94\uac00\ud558\uba74 \uc790\uc720\ub3c4\uac00 \uac10\uc18c\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>RigidBody -&gt; 6 DOF<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Hinge Joint -&gt; \uc77c\ubd80 \ubcd1\uc9c4\/\ud68c\uc804 \uc790\uc720\ub3c4 \uc81c\ud55c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Fixed Joint -&gt; \uc0c1\ub300\uc801\uc778 \uc6b4\ub3d9 \ub300\ubd80\ubd84 \uc81c\ud55c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub77c\ub294 \uad6c\uc870\uac00 \ub41c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub530\ub77c\uc11c Joint\uc758 \ubcf8\uc9c8\uc740<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc790\uc720\ub3c4 -&gt; \uc81c\ud55c -&gt; \uc6d0\ud558\ub294 \uc6b4\ub3d9\ub9cc \ud5c8\uc6a9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\ubb3c\ub9ac \uae30\ubc18 \uce90\ub9ad\ud130<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\ubb3c\ub9ac \uae30\ubc18 \uce90\ub9ad\ud130\ub294 \uce90\ub9ad\ud130\uc758 \uc6c0\uc9c1\uc784\uc744 \ub2e8\uc21c\ud788 Transform\uc744 \uc9c1\uc811 \ubcc0\uacbd\ud558\ub294 \ubc29\uc2dd\uc774 \uc544\ub2c8\ub77c <strong>\ud798, \uc18d\ub3c4, \ucda9\ub3cc, \uc81c\uc57d \uc870\uac74 \ub4f1\uc744 \ud1b5\ud574 \ub9cc\ub4e4\uc5b4\ub0b4\ub294 \ubc29\uc2dd<\/strong>\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uae30\ubcf8\uc801\uc778 \uad6c\uc870\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc785\ub825 -&gt; \ubaa9\ud45c \uc774\ub3d9 -&gt; \ud798\/\ucda9\uaca9\ub7c9 -&gt; Rigidbody -&gt; \ucda9\ub3cc\/\uc811\ucd09 -&gt; Solver -&gt; \uce90\ub9ad\ud130 \uc774\ub3d9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4 \uce90\ub9ad\ud130\uac00 \uc624\ub978\ucabd\uc73c\ub85c \uc6c0\uc9c1\uc774\ub824 \ud55c\ub2e4\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc785\ub825 -&gt; \ubaa9\ud45c \uc18d\ub3c4 \uacc4\uc0b0 -&gt; \ud604\uc7ac \uc18d\ub3c4\uc640 \ube44\uad50 -&gt; \ud544\uc694\ud55c \ud798 \uacc4\uc0b0 -&gt; Rigidbody\uc5d0 \uc801\uc6a9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud558\ub294 \ubc29\uc2dd\uc73c\ub85c \ub9cc\ub4e4 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774 \ubc29\uc2dd\uc740<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uacbd\uc0ac\uba74<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubc00\uae30<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc810\ud504<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc678\ubd80 \ud798<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uacfc \uc790\uc5f0\uc2a4\ub7fd\uac8c \uc0c1\ud638\uc791\uc6a9\ud558\uae30 \uc27d\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ubc18\uba74 \uc77c\ubc18\uc801\uc778 \uce90\ub9ad\ud130 \ucee8\ud2b8\ub864\ub7ec\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc785\ub825 -&gt; \uc704\uce58\/\uc18d\ub3c4 \uc9c1\uc811 \uc81c\uc5b4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud558\ub294 \ubc29\uc2dd\uc73c\ub85c \ub354 \uac15\ud55c \uac8c\uc784\ud50c\ub808\uc774 \uc81c\uc5b4\ub825\uc744 \uc5bb\uc744 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub530\ub77c\uc11c \ubb3c\ub9ac \uae30\ubc18 \uce90\ub9ad\ud130\uac00 \ud56d\uc0c1 \ub354 \uc88b\uc740 \uac83\uc740 \uc544\ub2c8\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\uce90\ub9ad\ud130 \ubb3c\ub9ac\uc5d0\uc11c \uc911\uc694\ud55c \ubb38\uc81c<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\ubb3c\ub9ac \uae30\ubc18 \uce90\ub9ad\ud130\ub294 \ud604\uc2e4\uc801\uc778 \ubb3c\ub9ac\ub9cc \uc801\uc6a9\ud558\uba74 \uc870\uc791\uac10\uc774 \ub098\ube60\uc9c8 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ud798\ub9cc \uc801\uc6a9 -&gt; \uac00\uc18d -&gt; \uad00\uc131 -&gt; \ubbf8\ub044\ub7ec\uc9d0<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774 \ubc1c\uc0dd\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uac8c\uc784\uc5d0\uc11c\ub294 \uc6d0\ud558\ub294 \uc870\uc791\uac10\uc744 \uc5bb\uae30 \uc704\ud574<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubaa9\ud45c \uc18d\ub3c4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uac00\uc18d\ub3c4 \uc81c\ud55c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucd5c\ub300 \uc18d\ub3c4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uacf5\uc911 \uc81c\uc5b4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc9c0\uba74 \ub9c8\ucc30<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc810\ud504 \ucda9\uaca9\ub7c9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc744 \ubcc4\ub3c4\ub85c \uc124\uacc4\ud574\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc989<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubb3c\ub9ac \uc2dc\ubbac\ub808\uc774\uc158 + \uac8c\uc784\ud50c\ub808\uc774 \uc81c\uc5b4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc758 \uade0\ud615\uc774 \ud544\uc694\ud558\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\ucc28\ub7c9 \ubb3c\ub9ac<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\ucc28\ub7c9 \ubb3c\ub9ac\ub294 \uc77c\ubc18\uc801\uc778 Rigidbody \ud558\ub098\ub9cc\uc73c\ub85c \uad6c\ud604\ud558\uae30 \uc5b4\ub835\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ucc28\ub7c9\uc740<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucc28\uccb4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubc14\ud034<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc11c\uc2a4\ud39c\uc158<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ud0c0\uc774\uc5b4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uad6c\ub3d9\ub825<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ube0c\ub808\uc774\ud06c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc870\ud5a5<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc758 \uc0c1\ud638\uc791\uc6a9\uc73c\ub85c \uc6c0\uc9c1\uc778\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uae30\ubcf8 \uad6c\uc870\ub294<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc785\ub825 -&gt; \uc870\ud5a5\/\uac00\uc18d\/\ube0c\ub808\uc774\ud06c -&gt; \ud0c0\uc774\uc5b4 \ud798 -&gt; \ucc28\uccb4 Rigidbody -&gt; \ucc28\ub7c9 \uc6b4\ub3d9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\ucc28\ub7c9\uc758 \uc11c\uc2a4\ud39c\uc158<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\ucc28\ub7c9\uc758 \ubc14\ud034\ub294 \ucc28\uccb4\uc640 \uc9c1\uc811 \uace0\uc815\ub41c \uac83\uc774 \uc544\ub2c8\ub77c \uc11c\uc2a4\ud39c\uc158\uc744 \ud1b5\ud574 \uc6c0\uc9c1\uc778\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e8\uc21c\ud654\ud558\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc2a4\ud504\ub9c1 + \ub310\ud37c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uad6c\uc870\ub85c \ubcfc \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubcc0\uc704 -&gt; Spring Force<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc0c1\ub300 \uc18d\ub3c4 -&gt; Damping Force<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub530\ub77c\uc11c<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>F_suspension = -kx - cv<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud615\ud0dc\uc758 \ubaa8\ub378\uc744 \uc0ac\uc6a9\ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc11c\uc2a4\ud39c\uc158\uc774 \uc555\ucd95\ub418\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc555\ucd95 -&gt; \uc2a4\ud504\ub9c1 \ubc18\ubc1c\ub825 \uc99d\uac00<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud558\uace0,<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ube60\ub974\uac8c \uc555\ucd95\ub418\uac70\ub098 \ub298\uc5b4\ub098\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc18d\ub3c4 -&gt; \uac10\uc1e0\ub825<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774 \ubc1c\uc0dd\ud55c\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\ucc28\ub7c9\uc758 \ud0c0\uc774\uc5b4 \ud798<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\ucc28\ub7c9\uc758 \uc2e4\uc81c \uc6c0\uc9c1\uc784\uc5d0\uc11c \uc911\uc694\ud55c \uac83\uc740 \ud0c0\uc774\uc5b4\uc640 \uc9c0\uba74 \uc0ac\uc774\uc758 \ud798\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud0c0\uc774\uc5b4\uc5d0\uc11c\ub294 \ud06c\uac8c<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc885\ubc29\ud5a5 \ud798 -&gt; \uac00\uc18d\/\uc81c\ub3d9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ud6a1\ubc29\ud5a5 \ud798 -&gt; \uc870\ud5a5\/\uc120\ud68c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc744 \uc0dd\uac01\ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ucc28\ub7c9\uc758 \uc18d\ub3c4\uc640 \ubc14\ud034\uc758 \ud68c\uc804 \uc0c1\ud0dc\uac00 \uc77c\uce58\ud558\uc9c0 \uc54a\uc73c\uba74 \ud0c0\uc774\uc5b4\uc640 \uc9c0\uba74 \uc0ac\uc774\uc5d0 \ubbf8\ub044\ub7ec\uc9d0\uc774 \ubc1c\uc0dd\ud55c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub300\ud45c\uc801\uc778 \uac1c\ub150\uc774<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Slip<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub530\ub77c\uc11c \ucc28\ub7c9 \ubb3c\ub9ac\ub294 \ub2e8\uc21c\ud788<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc5d4\uc9c4 \ud798 -&gt; \ucc28\uccb4 \uc774\ub3d9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774 \uc544\ub2c8\ub77c<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc5d4\uc9c4\/\ube0c\ub808\uc774\ud06c -&gt; \ubc14\ud034 \ud68c\uc804 -&gt; \ud0c0\uc774\uc5b4 \uc811\ucd09 -&gt; \ub9c8\ucc30\ub825 -&gt; \ucc28\uccb4 \uc6b4\ub3d9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc73c\ub85c \uc5f0\uacb0\ub41c\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\ud401\uc758 \ubc95\uce59<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\ud401\uc758 \ubc95\uce59(Pong&#8217;s Law)<\/strong>\uc740 \uc2e4\uc81c \ubb3c\ub9ac \ubc95\uce59\uc774 \uc544\ub2c8\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uac8c\uc784 \uac1c\ubc1c\uc5d0\uc11c \ud754\ud788 \uc0ac\uc6a9\ub418\ub294 \ub18d\ub2f4\uc131 \ud45c\ud604\uc73c\ub85c, <strong>\ud0c1\uad6c \uac8c\uc784 Pong\uc758 \uacf5\uc774 \ud295\uae30\ub294 \ubc29\uc2dd\ucc98\ub7fc \ub2e8\uc21c\ud55c \ubc18\uc0ac\/\ucda9\ub3cc \uaddc\uce59\uc744 \uc124\uba85\ud558\ub294 \ub9e5\ub77d<\/strong>\uc5d0\uc11c \uc0ac\uc6a9\ub420 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ubb3c\ub9ac\ud559\uc5d0\uc11c \uc77c\ubc18\uc801\uc73c\ub85c \uc0ac\uc6a9\ud558\ub294 \uacf5\uc2dd\uc774\ub098 \ubc95\uce59\uc778 \uac83\ucc98\ub7fc \ucde8\uae09\ud558\uba74 \uc548 \ub41c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ucda9\ub3cc \ubc18\uc0ac \uc790\uccb4\ub97c \ubb3c\ub9ac\uc801\uc73c\ub85c \ud45c\ud604\ud558\uba74 \ud45c\uba74 \ubc95\uc120 <code>n<\/code>\uacfc \uc785\uc0ac \uc18d\ub3c4 <code>v<\/code>\ub97c \uc774\uc6a9\ud558\uc5ec \ubc18\uc0ac \uc18d\ub3c4\ub97c \uacc4\uc0b0\ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc644\uc804 \ud0c4\uc131 \ubc18\uc0ac\ub97c \ub2e8\uc21c\ud654\ud558\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>v' = v - 2(v \u00b7 n)n<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc608\ub97c \ub4e4\uc5b4 \ubcbd\uc758 \ubc95\uc120\uc774 \uc704\ucabd\uc744 \ud5a5\ud558\uace0 \uacf5\uc774 \uc544\ub798\ucabd\uc73c\ub85c \ub4e4\uc5b4\uc654\ub2e4\uba74 \ubc95\uc120 \ubc29\ud5a5 \uc18d\ub3c4 \uc131\ubd84\uc774 \ubc18\uc804\ub41c\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc785\uc0ac \uc18d\ub3c4 -&gt; \ubc95\uc120\/\uc811\uc120 \ubd84\ud574 -&gt; \ubc95\uc120 \uc131\ubd84 \ubc18\uc804 -&gt; \ubc18\uc0ac \uc18d\ub3c4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc2e4\uc81c \uac8c\uc784\uc5d0\uc11c\ub294 \uc5ec\uae30\uc5d0<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubc18\ubc1c \uacc4\uc218<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ub9c8\ucc30<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc \uc9c8\ub7c9<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub4f1\uc744 \ucd94\uac00\ud558\uc5ec \ub354 \ud604\uc2e4\uc801\uc778 \ucda9\ub3cc\uc744 \uad6c\ud604\ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\ubb3c\ub9ac \uc5d4\uc9c4\uc758 \uc804\uccb4 \ud750\ub984<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\uac8c\uc784 \ubb3c\ub9ac\uc758 \uc804\uccb4 \uad6c\uc870\ub97c \ud558\ub098\ub85c \uc5f0\uacb0\ud558\uba74 \ub2e4\uc74c\uacfc \uac19\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc785\ub825\/\uc678\ub825 -&gt; Rigidbody \uc0c1\ud0dc -&gt; Broad Phase -&gt; Narrow Phase -&gt; Contact -&gt; Constraint -&gt; Solver -&gt; Integration -&gt; \uc0c8\ub85c\uc6b4 Rigidbody \uc0c1\ud0dc<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ucda9\ub3cc\uc744 \uc880 \ub354 \uc790\uc138\ud558\uac8c \ubcf4\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Collider -&gt; Broad Phase -&gt; \ucda9\ub3cc \ud6c4\ubcf4 -&gt; Narrow Phase -&gt; \ucda9\ub3cc\uc810\/\ubc95\uc120\/\uce68\ud22c\ub7c9 -&gt; Contact -&gt; \ucda9\uaca9\ub7c9 -&gt; Solver -&gt; \uc18d\ub3c4\/\ud68c\uc804 \uc218\uc815<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Joint\uae4c\uc9c0 \ud3ec\ud568\ud558\uba74<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Rigidbody -&gt; Joint -&gt; Constraint -&gt; Solver -&gt; \uc81c\uc57d \uc870\uac74 \ub9cc\uc871<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub2e4.<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\">\ud575\uc2ec \uc815\ub9ac<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubb3c\ub9ac \uc5d4\uc9c4 -&gt; \ubb3c\ub9ac \ubc95\uce59\uc744 \uc2e4\uc2dc\uac04\uc73c\ub85c \uadfc\uc0ac\ud558\uc5ec \uacc4\uc0b0<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Rigidbody -&gt; \ubb3c\uccb4\uc758 \uc9c8\ub7c9\/\uc704\uce58\/\uc18d\ub3c4\/\ud68c\uc804 \ub4f1\uc758 \ubb3c\ub9ac \uc0c1\ud0dc<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Collider -&gt; \ucda9\ub3cc \uac80\ucd9c\uc6a9 \ud615\uc0c1<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Render Mesh != Collider<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Broad Phase -&gt; \ucda9\ub3cc \ud6c4\ubcf4\ub97c \ube60\ub974\uac8c \uc120\ubcc4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Narrow Phase -&gt; \uc2e4\uc81c \ucda9\ub3cc\uc744 \uc815\ubc00\ud558\uac8c \uacc4\uc0b0<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Contact -&gt; \uc811\ucd09\uc810\/\ubc95\uc120\/\uce68\ud22c\ub7c9 \ub4f1\uc758 \uc811\ucd09 \uc815\ubcf4<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Constraint -&gt; \ubb3c\ub9ac\uc801\uc73c\ub85c \uc9c0\ucf1c\uc57c \ud558\ub294 \uc870\uac74<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Solver -&gt; Constraint\ub97c \ub9cc\uc871\ud558\ub3c4\ub85d \ubb3c\ub9ac \uc0c1\ud0dc \uc218\uc815<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Joint -&gt; Rigidbody \uc0ac\uc774\uc758 \uc6b4\ub3d9\uc744 \uc81c\ud55c\ud558\ub294 Constraint<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>3D \uac15\uccb4 -&gt; 6 DOF<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Joint -&gt; \uc790\uc720\ub3c4 \uc81c\ud55c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubb3c\ub9ac \uae30\ubc18 \uce90\ub9ad\ud130 -&gt; \uc785\ub825 -&gt; \ud798\/\ucda9\uaca9\ub7c9 -&gt; Rigidbody -&gt; Solver -&gt; \uc6c0\uc9c1\uc784<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucc28\ub7c9 \ubb3c\ub9ac -&gt; \ucc28\uccb4 + \uc11c\uc2a4\ud39c\uc158 + \ud0c0\uc774\uc5b4 + \uad6c\ub3d9\/\uc81c\ub3d9 + \uc870\ud5a5<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\uc11c\uc2a4\ud39c\uc158 -&gt; Spring-Damper<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ud0c0\uc774\uc5b4 -&gt; \uc885\ubc29\ud5a5 \ud798 + \ud6a1\ubc29\ud5a5 \ud798 + \ub9c8\ucc30<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ud401\uc758 \ubc95\uce59 -&gt; \uc2e4\uc81c \ubb3c\ub9ac \ubc95\uce59\uc774 \uc544\ub2cc \uac8c\uc784\uc801 \ud45c\ud604<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubc18\uc0ac \uc18d\ub3c4 -&gt; v' = v - 2(v \u00b7 n)n<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uac00\uc7a5 \uc911\uc694\ud55c \uc804\uccb4 \uad6c\uc870\ub294 \ub2e4\uc74c\uacfc \uac19\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Rigidbody + Collider -&gt; Broad Phase -&gt; Narrow Phase -&gt; Contact -&gt; Constraint -&gt; Solver -&gt; Integration -&gt; Physics State<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uadf8\ub9ac\uace0 \uac8c\uc784 \ubb3c\ub9ac\uc758 \ubcf8\uc9c8\uc740 <strong>\ubb3c\uccb4\ub97c \ub2e8\uc21c\ud788 \uc6c0\uc9c1\uc774\ub294 \uac83\uc774 \uc544\ub2c8\ub77c, \ubb3c\uccb4\uac00 \ub9cc\uc871\ud574\uc57c \ud558\ub294 \ubb3c\ub9ac\uc801 \uc81c\uc57d\uc744 \uc815\uc758\ud558\uace0 Solver\ub97c \ud1b5\ud574 \uadf8 \uc81c\uc57d\uc744 \ub9cc\uc871\uc2dc\ud0a4\ub294 \uac83<\/strong>\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ucda9\ub3cc\uc740 \uadf8\uc911 \ud558\ub098\uc758 \uc81c\uc57d\uc774\uace0, Joint \uc5ed\uc2dc \ub610 \ub2e4\ub978 \uc81c\uc57d\uc774\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ucda9\ub3cc -&gt; \uc811\ucd09 \uc81c\uc57d<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ubc14\ub2e5 -&gt; \uce68\ud22c \uae08\uc9c0 \uc81c\uc57d<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>Joint -&gt; \uc0c1\ub300 \uc6b4\ub3d9 \uc81c\ud55c \uc81c\uc57d<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\ub9c8\ucc30 -&gt; \uc811\uc120 \ubc29\ud5a5 \uc6b4\ub3d9 \uc81c\ud55c<\/code><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774 \uad00\uc810\uc73c\ub85c \ubcf4\uba74 \uac8c\uc784 \ubb3c\ub9ac \uc5d4\uc9c4\uc758 \uad6c\uc870\uac00 \ud558\ub098\ub85c \uc5f0\uacb0\ub41c\ub2e4.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\uac8c\uc784 \ubb3c\ub9ac\ub294 \ud604\uc2e4\uc758 \ubb3c\ub9ac \ubc95\uce59\uc744 \uadf8\ub300\ub85c \uacc4\uc0b0\ud558\ub294 \uac83\uc774 \uc544\ub2c8\ub77c \uac8c\uc784\uc5d0\uc11c \ud544\uc694\ud55c \uc218\uc900\uc73c\ub85c \uadfc\uc0ac\ud558\uc5ec \uc2e4\uc2dc\uac04\uc73c\ub85c \uacc4\uc0b0\ud558\ub294 \uc2dc\uc2a4\ud15c\uc774\ub2e4. \ud575\uc2ec \uad6c\uc870\ub294 \uc785\ub825\/\uc678\ub825 -&gt; \ubb3c\ub9ac \uc0c1\ud0dc -&gt; \ucda9\ub3cc \uac80\ucd9c -&gt; \uc811\ucd09\/\uc81c\uc57d \uc0dd\uc131 -&gt; Solver -&gt; \uc18d\ub3c4\/\uc704\uce58 \uac31\uc2e0 \uc774\ub2e4. \uac8c\uc784 \ubb3c\ub9ac\uc5d0\uc11c\ub294 \ud2b9\ud788 \ucda9\ub3cc \uac80\ucd9c, \uc811\ucd09, \uc81c\uc57d \uc870\uac74, Solver\uac00 \uc911\uc694\ud558\ub2e4. \ubb3c\ub9ac \uc5d4\uc9c4 \uad6c\uc870 \ubb3c\ub9ac \uc5d4\uc9c4\uc740 \uac8c\uc784 \uc138\uacc4\uc758 \ubb3c\ub9ac \uc0c1\ud0dc\ub97c \uc2dc\uac04\uc5d0 \ub530\ub77c [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[54],"tags":[],"class_list":["post-2141","post","type-post","status-publish","format-standard","hentry","category-physics"],"_links":{"self":[{"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=\/wp\/v2\/posts\/2141","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2141"}],"version-history":[{"count":1,"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=\/wp\/v2\/posts\/2141\/revisions"}],"predecessor-version":[{"id":2142,"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=\/wp\/v2\/posts\/2141\/revisions\/2142"}],"wp:attachment":[{"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2141"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2141"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/wayhope.kro.kr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2141"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}