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Decomposing the Linear Complementarity Problem into Separate Contact Regions

O. Lazarevych, G. Székely, and M. Harders


We present a novel approach to handling frictional contacts for deformable body simulations. Our contact model allows to separate the contact area into a set of detached contact regions. For each of them a separate mixed linear complementarity problem (MLCP) is formulated. Parallel processing of these independent contact regions may considerably improve the performance of the contact handling routine. Moreover, the proposed contact model provides a sparse matrix formulation of the corresponding MLCP which allows further optimization of the computations by applying well-known methods for sparse matrix computations. For solving the MLCPs we propose an iterative method which combines the projected conjugate gradient-like approach and the projected Gauss-Seidel method.

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  author = {O. Lazarevych and G. Székely and and M. Harders},
  title = {Decomposing the Linear Complementarity Problem into Separate Contact Regions},
  booktitle = {WSCG},
  year = {2010},
  keywords = {}