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Asynchronous Contact Mechanics
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DOI：10.1145/1531326.1531393.png)
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Abstract
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We develop a method for reliable simulation of elastica in complex contact scenarios. Our focus is on firmly establishing three parameter-independent guarantees: that simulations of well-posed problems (a) have no interpenetrations, (b) obey causality, momentum-and energy-conservation laws, and (c) complete in finite time. We achieve these guarantees through a novel synthesis of asynchronous variational integrators, kinetic data structures, and a discretization of the contact barrier potential by an infinite sum of nested quadratic potentials. In a series of two-and three-dimensional examples, we illustrate that this method more easily handles challenging problems involving complex contact geometries, sharp features, and sliding during extremely tight contact.
Keywords:
variational
symplectic
contact
collision
simulation
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