Comparison of Mixed Linear Complementarity Problem Solvers for Multibody Simulations with Contact

Andreas Enzenhöfer, Sheldon Andrews, Marek Teichmann & József Kövecses
The trade-off between accuracy and computational performance is one of the central conflicts in real-time multibody simulations, much of which can be attributed to the method used to solve the constrained multibody equations. This paper examines four mixed linear complementarity problem (MLCP) algorithms when they are applied to physical problems involving frictional contact. We consider several different, and challenging, test cases such as grasping, stability of static models, closed loops, and long chains of bodies....
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