Projective Dynamics with Dry Frictional Contact

How to read this

Category

Method: a frictional contact solver for projective dynamics

Contributions

• Extends projective dynamics to exact dry frictional contact under the Signorini-Coulomb law
• Integrates contact and friction projections into the local-global solver instead of using penalty forces
• A semi-implicit scheme alternating a global elasticity solve with local contact/friction projections

Context

Builds on Bouaziz et al.'s Projective Dynamics, grafting non-smooth Signorini-Coulomb contact onto its local-global structure rather than the penalty-based contact common in fast simulators.Builds on: Projective Dynamics: Fusing Constraint Projections for Fast Simulation

Correctness

Demonstrated on cloth and other deformables in collision-rich scenes, respecting non-penetration and Coulomb friction; the appeal hinges on preserving PD's efficiency, so the relevant question is how well exact friction scales as contact density grows.

Clarity

Dense in the contact formulation; the high-level alternation scheme is graspable on a first pass, the projections are not.

How to read it

First pass for how friction is folded into the local-global loop; budget a careful second and likely third pass on the Signorini-Coulomb projections if you plan to implement or extend it.