Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Robot Dynamics Algorithm
Computers and Intractability: A Guide to the Theory of NP-Completeness
Computers and Intractability: A Guide to the Theory of NP-Completeness
Second Order Kinematic Constraint Between Two Bodies Rolling, Twisting and Slipping Against Each Other While Maintaining Point Contact
Quadratic Programming is in NP
Quadratic Programming is in NP
Interval methods for multi-point collisions between time-dependent curved surfaces
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Spacetime constraints revisited
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
An interactive tool for placing curved surfaces without interpenetration
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Further experience with controller-based automatic motion synthesis for articulated figures
ACM Transactions on Graphics (TOG)
Position-based physics: simulating the motion of many highly interacting spheres and polyhedra
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Robust treatment of collisions, contact and friction for cloth animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Collision Detection for Interactive Graphics Applications
IEEE Transactions on Visualization and Computer Graphics
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
A Fast Impulsive Contact Suite for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
Quasi-rigid objects in contact
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
Robust treatment of collisions, contact and friction for cloth animation
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Introduction to haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
A Fast and Stable Penalty Method for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
Physically realistic motion synthesis in animation
Evolutionary Computation
Backward steps in rigid body simulation
ACM SIGGRAPH 2008 papers
ACM SIGGRAPH Asia 2008 papers
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
A robust and tractable contact model for dynamic robotic simulation
Proceedings of the 2009 ACM symposium on Applied Computing
Interactive synthesis of human-object interaction
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Anisotropic friction for deformable surfaces and solids
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Energy stability and fracture for frame rate rigid body simulations
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
Toward high-quality modal contact sound
ACM SIGGRAPH 2011 papers
A hybrid iterative solver for robustly capturing coulomb friction in hair dynamics
Proceedings of the 2011 SIGGRAPH Asia Conference
Mass splitting for jitter-free parallel rigid body simulation
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Modeling and estimation of internal friction in cloth
ACM Transactions on Graphics (TOG)
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Algorithms and computational complexity measures for simulating the motion of contacting bodies with friction are presented. The bodies are restricted to be perfectly rigid bodies that contact at finitely many points. Contact forces between bodies must satisfy the Coulomb model of friction. A traditional principle of mechanics is that contact forces are impulsive if and only if non-impulsive contact forces are insufficient to maintain the non-penetration constraints between bodies. When friction is allowed, it is known that impulsive contact forces can be necessary even in the absence of collisions between bodies. This paper shows that computing contact forces according to this traditional principle is likely to require exponential time. An analysis of this result reveals that the principle for when impulses can occur is too restrictive, and a natural reformulation of the principle is proposed. Using the reformulated principle, an algorithm with expected polynomial time behaviour for computing contact forces is presented.