Non-smooth Newton Methods for Deformable Multi-body Dynamics

  title={Non-smooth Newton Methods for Deformable Multi-body Dynamics},
  author={M. Macklin and Kenny Erleben and M. M{\"u}ller and N. Chentanez and S. Jeschke and Viktor Makoviychuk},
  journal={ACM Transactions on Graphics (TOG)},
  pages={1 - 20}
  • M. Macklin, Kenny Erleben, +3 authors Viktor Makoviychuk
  • Published 2019
  • Computer Science, Physics
  • ACM Transactions on Graphics (TOG)
  • 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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