Staggered projections for frictional contact in multibody systems
Why this work is in the frame
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Bibliographic record
Abstract
We present a new discrete velocity-level formulation of frictional contact dynamics that reduces to a pair of coupled projections and introduce a simple fixed-point property of this coupled system. This allows us to construct a novel algorithm for accurate frictional contact resolution based on a simple staggered sequence of projections. The algorithm accelerates performance using warm starts to leverage the potentially high temporal coherence between contact states and provides users with direct control over frictional accuracy. Applying this algorithm to rigid and deformable systems, we obtain robust and accurate simulations of frictional contact behavior not previously possible, at rates suitable for interactive haptic simulations, as well as large-scale animations. By construction, the proposed algorithm guarantees exact, velocity-level contact constraint enforcement and obtains long-term stable and robust integration. Examples are given to illustrate the performance, plausibility and accuracy of the obtained solutions.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it