“Implementation of Fast Frictional Dynamics for Rigid Bodies”

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    Implementation of Fast Frictional Dynamics for Rigid Bodies


    This sketch will present some important details that went into the implementation of our Fast Frictional Dynamics algorithm [Kauf- man et al. 2005]. Our goal is the fast simulation of large sets of non-convex rigid bodies. By avoiding repeated pairwise comparisons between bodies, we are able to formulate a multi-body simulation algorithm with a complexity that is linear in the total number of contacts per time step.


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