Alternative contact models

[AlexanderFabisch]

• Andrews et al.: SIGGRAPH'22 Course: Contact and Friction Simulation for Computer Graphics (2022). https://siggraphcontact.github.io/
• Castro et al.: A Transition-Aware Method for the Simulation of Compliant Contact with Regularized Friction (2019). https://arxiv.org/pdf/1909.05700.pdf
• Boos et al.: Volumetric Modeling and Experimental Validation of Normal Contact Dynamic Forces (2013). https://uwaterloo.ca/motion-research-group/sites/ca.motion-research-group/files/uploads/files/boos2013.pdf
• Lembcke: Realtime Rigid Body Simulation Using Impulses (2006). http://files.slembcke.net/misc/RigidBodies.pdf
• Hertz: Über die Berührung fester elastischer Körper (1881). https://home.uni-leipzig.de/pwm/web/download/Hertz1881.pdf
• Hasegawa et al.: Real-Time Rigid Body Simulation Based on Volumetric Penalty Method (2003). https://www.researchgate.net/publication/221012120_Real-Time_Rigid_Body_Simulation_Based_on_Volumetric_Penalty_Method
• Terzopoulos et al.: Elastically Deformable Models (1987). http://web.cs.ucla.edu/~dt/papers/siggraph87/siggraph87.pdf
• Kaufman et al.: Staggered Projections for Frictional Contact in Multibody Systems (2008). http://www.cs.ubc.ca/labs/sensorimotor/projects/sp_sigasia08/KSJP08.pdf
• Todorov: A convex, smooth and invertible contact model for trajectory optimization (2011). https://homes.cs.washington.edu/~todorov/papers/TodorovICRA11.pdf
• Drumwright et al.: Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation (2010). https://cse-robotics.engr.tamu.edu/dshell/papers/wafr2010contact.pdf
• MuJoCo documentation: https://mujoco.readthedocs.io/en/latest/computation.html#cocontact
• Spring-damper contact model: https://www.sky-engin.jp/en/MBDynTutorial/chap26/chap26.html
• Constraint rigid body simulation: https://www.toptal.com/game/video-game-physics-part-iii-constrained-rigid-body-simulation
• Smith et al.: Stable Neo-Hookean Flesh Simulation (2017). https://graphics.pixar.com/library/StableElasticity/

Books

• Ruina et al.: Introduction to Mechanics for Engineers (2019). http://ruina.tam.cornell.edu/Book/RuinaPratap-July-12-2019.pdf
• Sueda: Analytically Differentiable Articulated Rigid Body Dynamics (2021). https://github.com/sueda/redmax/blob/master/notes.pdf
• Kim et al.: Dynamic Deformables: Implementation and Production Practicalities (2020). https://graphics.pixar.com/library/DynamicDeformablesSiggraph2020/paper.pdf