In the context of simulating the frictional contact dynamics of large systems of rigid bodies,
this paper reviews a novel method for solving large cone complementarity problems by …

The term “haptics” refers to the science of sensing and manipulation through touch. Multiple
disciplines such as biomechanics, psychophysics, robotics, neuroscience, and software …

Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is
challenging and problematic. This includes, coplanar and collinear issues, numerical …

This paper proposes an iterative method that can simulate mechanical systems featuring a
large number of contacts and joints between rigid bodies. The numerical method behaves …

Aiming at a fast and robust simulation of large multibody systems with contacts and friction,
this work presents a novel method for solving large cone complementarity problems by …

We present a time-stepping method to simulate rigid multibody dynamics with inelastic
collision, contact, and friction. The method progresses with fixed time step without …

We present a method for achieving geometrical constraint stabilization for a linear‐
complementarity‐based time‐stepping scheme for rigid multibody dynamics with joints …

To put this dissertation in a proper perspective, I feel it is important to give a little insight into
my background history and motivation for working in the field of physicsbased animation. As …

Collision detection algorithms has been investigated since decades. Consequently, there
already exist a wide spectrum of different approaches. In this chapter, we give a broad …

We present a novel and fast algorithm to compute penetration depth (PD) between two
polyhedral models for physically-based animation. Given two overlapping polyhedra, it …