Implementation of Fast Frictional Dynamics for Rigid Bodies

This sketch will present some important details that went into the implementation of our Fast Frictional Dynamics algorithm [Kaufman et al. 2005]. Our goal is the fast simulation of large sets of non-convex rigid bodies. By avoiding repeated pairwise comparisons between bodies, we are able to formulate a multi-body simulation algorithm with a complexity that is linear in the total number of contacts per time step.