Hybrid Dynamic Simulation of Rigid-Body Contact with Coulomb Friction

This paper introduces a hybrid scheme for simulating rigid bodies in contact. W e use (cm adaptive strategy for handling two different contact situations, 'bouncing' and 'steady'. To handle contact f o r rigid bodies, we use two impulse-based methods to explicitiy or implicitly compute impulses due to collision impact. These two methods are used so that different impulse methods are applied adaptively depending on the contact situations. Our experiments show that our simple adaptive simulation scheme enables efficient and physically-correct dynamic simulation involving rigidbody contacts with Coulomb friction. This adaptive scheme was incorporated into our dynamic simulator, called I-GMS, which supports various types of simulations. W e demonstrate the simulation results of our scheme using a ball falling on a flat surface in three dimensions.