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Previous works have devised robust methods for handling collisions in elastic bodies, cloth, or fiber assemblies such as hair, but the performance of many of those algorithms degrades when applied to objects with different topologies or constitutive models, or simply cannot scale to high-enough numbers of contacting points.<\/jats:p>\n          <jats:p>In this work we propose a unified approach, able to handle a large class of dynamical objects, that can solve for millions of contacts with unbiased Coulomb friction while keeping computation time and memory usage reasonable. Our method allows seamless coupling between the various simulated components that comprise virtual characters and their environment. Furthermore, our proposed approach is simple to implement and can be easily integrated in popular time integrators such as Projected Newton or ADMM.<\/jats:p>","DOI":"10.1145\/3386569.3392439","type":"journal-article","created":{"date-parts":[[2020,8,12]],"date-time":"2020-08-12T11:44:27Z","timestamp":1597232667000},"update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":42,"title":["Simple and scalable frictional contacts for thin nodal objects"],"prefix":"10.1145","volume":"39","author":[{"given":"Gilles","family":"Daviet","sequence":"first","affiliation":[{"name":"Weta Digital, New Zealand"}]}],"member":"320","published-online":{"date-parts":[[2020,8,12]]},"reference":[{"key":"e_1_2_2_1_1","first-page":"2","article-title":"2011. A formulation of the linear discrete Coulomb friction problem via convex optimization. ZAMM --- J. of App","volume":"91","author":"Acary V.","year":"2011","unstructured":"V. Acary, F. Cadoux, C. 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