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 solution of a symmetric linear system …

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 solution of a symmetric linear system …