Non-smooth Newton Methods for Deformable Multi-body Dynamics
ACM Transactions on Graphics, pp. 1-20, 2019.
Numerical optimizationcontactfrictionmulti-body dynamicsrobotics
We present a framework for the simulation of rigid and deformable bodies in the presence of contact and friction. Our method is based on a non-smooth Newton iteration that solves the underlying nonlinear complementarity problems (NCPs) directly. This approach allows us to support nonlinear dynamics models, including hyperelastic deformabl...More
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