Efficient simulation of contacts,friction and constraints using a modified spectral projected gradient method

Abstract

This work introduces a modified version of the Spectral Projected Gradient method that can be used for simulating dynamical systems with complex joints and frictional contacts. The proposed method is able to solve for unknown reactions in systems with large number of colliding shapes and articulated mechanisms. This method couples the ability of solving complementatity constraints, typical of fixed point iterations used in real-time applications, with the superior convergence of Krylov iterations for linear problems, hence making it attractive as a general purpose solver for both linear and non linear problems.