— We present a fast method for solving rigid body contact problems with friction, based on optimizations incorporated into Lemke’s algorithm for solving linear complementarity ...
Two methods have been used extensively to model resting contact for rigid body simulation. The first approach, the penalty method, applies virtual springs to surfaces in contact to...
A new algorithm for computing contact forces between solid objects with friction is presented. The algorithm allows a mix of contact points with static and dynamic friction. In co...
This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies. As opposed to most collision detection techniques, the computation of the first ...
The traditional high-level algorithms for rigid body simulation work well for moderate numbers of bodies but scale poorly to systems of hundreds or more moving, interacting bodies...