Notes:


[addendum, Feb-05-2002]
Since writing this, I have come to understand this CCD method as simply an instance of Jacobi (or Gauss-Seidel) iteration to satisfy constraints. I suspect that Wang and Chen were also not aware of this, hence their coining of a new monicker. This being an iterative relaxation scheme, one would expect that the convergence of this method could be improved upon by using Successive Over-Relaxation (SOR). SOR is basically intentionally overshooting your 1DOF solutions by some factor. While not at all about manipulator kinematics, the first few chapters of William Briggs' A Multigrid Tutorial (publisher SIAM, 2000) give an excellent introduction to iterative relaxation schemes (Jacobi,Gauss-Seidel,SOR,etc) and their convergence properties. See also the talk given by Thomas Jakobsen on "Advanced Character Physics" which he delivered at the 2001 Game Developer's Conference. The two key components of his approach are a Verlet integration scheme and the use of Jacobi iteration to handle constraints.