All’s Well That Ends Well: Guaranteed Resolution of Simultaneous Rigid Body Impact

Etienne Vouga, Breannan Smith, Danny M. Kaufman, Rasmus Tamstorf, Eitan Grinspun Iterative algorithms are frequently used to resolve simultaneous impacts between rigid bodies in physical simulations. However, these algorithms lack formal guarantees of termination, which is sometimes viewed as potentially dangerous, so failsafes are used in practical codes to prevent infinite loops. We show such […]