Rotational Kinematics

Visually represent the rotational stable equilibria of a polygonal part.

This demo is created because I didn’t quite understand a mathematical proof pertaining to this subject. Interpreting the math with some code cleared things up for me. The push function is useful if you want to determine which way an object would rotate when it’s placed on a moving conveyer belt and then hits a static fence.

More on this topic? K. Y. Goldberg. Orienting polygonal parts without sensors. Algorithmica, 10(2-4):201– 225, 1993.