Fast and reasonable contact force computation in forward dynamics based on momentum-level penetration compensation

This paper proposed a novel forward dynamics computation method which complexity is O(n) where n is the number of bodies. In this method, contact constraints based on the macroscopic method are relaxed by regularization technique, thereby the numerical stability is improved. The relaxation causes larger penetrations at contact points, which are compensated the penetrations at the momentum-level by low computation cost. In addition, a novel friction model was proposed. This model enables to compute the static friction more stably. The performance of the proposed method was evaluated by comparing with the microscopic and macroscopic methods with simulation of 6DOF pendulum's motion.