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Authors
Joshua G. Hale

Identifier
10.3182/20060906-3-IT-2910.00130

Index Terms
dynamic simulation,contact resolution,non-singular sub-matrices

Abstract
Analytical resolution of contact forces in dynamic simulation can involve solving systems with linearly dependent constraints. A coherency exploiting method is proposed for reducing the constraints to a linearly independent set. The method can be used to handle the dependencies expected in certain standard contact configurations as well as inconsistent constraint configurations, and partitions the work of contact resolution so that partial solution information can be retained to improve the efficiency of standard analytical methods. The technique is based on a novel partitioned decomposition for identifying and efficiently maintaining a maximal non-singular sub-matrix of an arbitrary matrix subject to a given set of row/column inclusion requirements, and is capable of exploiting symmetric matrices to reach a solution more quickly.

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