Splitting Methods for Dry Frictional Contact Problems in Rigid Multibody Systems: Preliminary Performance Results

Claude Lacoursière
Vrlab/HPC2N and Computing Science, Umeå Universitet, Sweden \ CMLabs Simulations Inc. , Canada

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Ingår i: The Annual SIGRAD Conference. Special Theme - Real-Time Simulations. Conference Proceedings from SIGRAD2003

Linköping Electronic Conference Proceedings 10:4, s. 11-16

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Publicerad: 2003-11-20


ISSN: 1650-3686 (tryckt), 1650-3740 (online)


A splitting method for solving LCP based models of dry frictional contact problems in rigid multibody systems based on box MLCP solver is presented. Since such methods rely on fast and robust box MLCP solvers; several methods are reviewed and their performance is compared both on random problems and on simulation data. We provide data illustrating the convergence rate of the splitting method which demonstrates that they present a viable alternative to currently available methods.

CR Categories: G.1.6 [Mathematics of Computing]: OptimizationóNonlinear Programming I.3.5 [Computer Graphics]: Computational Geometry and Object ModelingóPhysically based modeling I.3.7 [Computer Graphics]: Three-Dimensional Graphics and RealismóVirtual Reality I.6.8 [Simulation and Modeling]: Types of SimulationóAnimation


Physics based modeling; constraints; LCP; dry friction; rigid multibody dynamics


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