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Abstract: An asynchronous, variational method for simulating elastica in complexcontact and impact scenarios is developed. Asynchronous Variational IntegratorsAVIs are extended to handle contact forces by associating different timesteps to forces instead of to spatial elements. By discretizing a barrierpotential by an infinite sum of nested quadratic potentials, these extendedAVIs are used to resolve contact while obeying momentum- andenergy-conservation laws. A series of two- and three-dimensional examplesillustrate the robustness and good energy behavior of the method.

Autor: Etienne Vouga, David Harmon, Rasmus Tamstorf, Eitan Grinspun


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