This letter introduces a new iterative method for contact dynamics problems. The proposed
method is based on an efficient bisection method which iterates over each contact. We …

We propose a technique to simulate granular materials that exploits the dual strengths of
discrete and continuum treatments. Discrete element simulations provide unmatched levels …

Dry friction between hair fibers plays a major role in the collective hair dynamic behavior as
it accounts for typical nonsmooth features such as stick-slip instabilities. However, due the …

We present a solution method that, compared to the traditional Gauss-Seidel approach,
reduces the time required to simulate the dynamics of large systems of rigid bodies …

Frictional contacts are the primary way by which physical bodies interact, yet they pose
many numerical challenges. Previous works have devised robust methods for handling …

We develop an algorithm for the efficient and stable simulation of large-scale elastic rod
assemblies. We observe that the time-integration step is severely restricted by a strong …

In this chapter, we review several formulations of the discrete frictional contact problem that
arises in space and time discretized mechanical systems with unilateral contact and three …

This article presents new algorithms for massively parallel granular dynamics simulations on
distributed memory architectures using a domain partitioning approach. Collisions are …

This paper proposes a new representation of multibody mechanical systems involving three-
dimensional frictional unilateral constraints. The new representation is of the form of a …

Formulating a consistent theory for rigid-body dynamics with impacts is an intricate problem.
Twenty years ago Stewart published the first consistent theory with purely inelastic impacts …