Non-smooth Newton Methods for Deformable Multi-body Dynamics

@article{Macklin2019NonsmoothNM,
  title={Non-smooth Newton Methods for Deformable Multi-body Dynamics},
  author={Miles Macklin and Kenny Erleben and Matthias M{\"u}ller and Nuttapong Chentanez and Stefan Jeschke and Viktor Makoviychuk},
  journal={ACM Trans. Graph.},
  year={2019},
  volume={38},
  pages={140:1-140:20}
}
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 deformable bodies and articulated rigid mechanisms, coupled through a smooth isotropic friction model. The fixed-point nature of our method means it requires only the… CONTINUE READING

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