Implicit Integration for Articulated Bodies with Contact via the Nonconvex Maximal Dissipation Principle
Zherong Pan Kris Hauser Zherong Pan Kris Hauser
We present non-convex maximal dissipation principle (NMDP), a time integration scheme for articulated bodies with simultaneous contacts. Our scheme resolves contact forces via the maximal dissipation principle (MDP). Whereas prior MDP solvers assume linearized dynamics and integrate using the forward multistep scheme, we consider the coupled system of nonlinear Newton-Euler dynamics and MDP and in...