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This approach allows us to support nonlinear dynamics models, including hyperelastic deformable bodies and articulated rigid mechanisms, coupled through a smooth isotropic friction model. The fixed-point nature of our method means it requires only the solution of a symmetric linear system as a building block. We propose a new complementarity preconditioner for NCP functions that improves convergence, and we develop an efficient GPU-based solver based on the conjugate residual (CR) method that is suitable for interactive simulations. We show how to improve robustness using a new geometric stiffness approximation and evaluate our method\u2019s performance on a number of robotics simulation scenarios, including dexterous manipulation and training using reinforcement learning.<\/jats:p>","DOI":"10.1145\/3338695","type":"journal-article","created":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T12:56:30Z","timestamp":1571662590000},"page":"1-20","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":75,"title":["Non-smooth Newton Methods for Deformable Multi-body Dynamics"],"prefix":"10.1145","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3954-8009","authenticated-orcid":false,"given":"Miles","family":"Macklin","sequence":"first","affiliation":[{"name":"NVIDIA and University of Copenhagen"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kenny","family":"Erleben","sequence":"additional","affiliation":[{"name":"University of Copenhagen"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matthias","family":"M\u00fcller","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nuttapong","family":"Chentanez","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Stefan","family":"Jeschke","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Viktor","family":"Makoviychuk","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2019,10,21]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Numerical Methods for Nonsmooth Dynamical Systems: Applications in Mechanics and Electronics","author":"Acary Vincent","unstructured":"Vincent Acary and Bernard Brogliato . 2008. 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