An algorithm that shapes objects to cause them to roll down ramps following a desired path
Rolling paths and trajectoid shapes. a, An arbitrary curve T (dark blue) drawn on an inclined plane (grid) serves as one period of an infinite translationally symmetric trajectory T∞ to be traced by the trajectoid. b, A cylinder (gold) rolling along the plane (blue grid) must tilt sideways, as shown, to deviate from its preferred linear path of rolling (thick grey line on the…