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 investigate two classes of solvers used to determine the time evolution of large systems
of rigid bodies that mutually interact through contact with friction. The contact is modeled …

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 …

We outline a continuum approach for treating discrete granular flows that holds across
multiple scales: from experiments that focus on centimeter-size control volumes, to tests that …

We summarize and numerically compare two approaches for modeling and simulating the
dynamics of dry granular matter. The first one, the discrete-element method via penalty …

In this article, we present a convex formulation of compliant frictional contact and a robust
performant method to solve it in practice. By analytically eliminating contact constraints, we …

This work discusses an efficient formulation of a geometrically exact three-dimensional
beam which can be used in dynamical simulations involving large displacements, collisions …

We describe a computational framework for simulating suspensions of rigid particles in
Newtonian Stokes flow. One central building block is a collision-resolution algorithm that …

The observation of old construction works confirms that masonry domes can withstand
tensile hoop stresses, at least up to a certain level. Here, such tensile resistance, rather than …

Quadratic programs (QP), minimizations of quadratic objectives subject to linear inequality
and equality constraints, are at the heart of algorithms across scientific domains …