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Graph."],"published-print":{"date-parts":[[2021,8,31]]},"abstract":"<jats:p>We introduce the first implicit time-stepping algorithm for rigid body dynamics, with contact and friction, that guarantees intersection-free configurations at every time step.<\/jats:p>\n          <jats:p>Our algorithm explicitly models the curved trajectories traced by rigid bodies in both collision detection and response. For collision detection, we propose a conservative narrow phase collision detection algorithm for curved trajectories, which reduces the problem to a sequence of linear CCD queries with minimal separation. For time integration and contact response, we extend the recently proposed incremental potential contact framework to reduced coordinates and rigid body dynamics.<\/jats:p>\n          <jats:p>We introduce a benchmark for rigid body simulation and show that our approach, while less efficient than alternatives, can robustly handle a wide array of complex scenes, which cannot be simulated with competing methods, without requiring per-scene parameter tuning.<\/jats:p>","DOI":"10.1145\/3450626.3459802","type":"journal-article","created":{"date-parts":[[2021,7,20]],"date-time":"2021-07-20T00:04:27Z","timestamp":1626739467000},"page":"1-16","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":83,"title":["Intersection-free rigid body dynamics"],"prefix":"10.1145","volume":"40","author":[{"given":"Zachary","family":"Ferguson","sequence":"first","affiliation":[{"name":"New York University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Minchen","family":"Li","sequence":"additional","affiliation":[{"name":"University of California and University of Pennsylvania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Teseo","family":"Schneider","sequence":"additional","affiliation":[{"name":"New York University and University of Victoria"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Francisca","family":"Gil-Ureta","sequence":"additional","affiliation":[{"name":"New York University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Timothy","family":"Langlois","sequence":"additional","affiliation":[{"name":"Adobe Research"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chenfanfu","family":"Jiang","sequence":"additional","affiliation":[{"name":"University of California and University of Pennsylvania"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Denis","family":"Zorin","sequence":"additional","affiliation":[{"name":"New York University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Danny M.","family":"Kaufman","sequence":"additional","affiliation":[{"name":"Adobe Research"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniele","family":"Panozzo","sequence":"additional","affiliation":[{"name":"New York University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2021,7,19]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Hart","author":"Anitescu Mihai","year":"2004","unstructured":"Mihai Anitescu and Gary D . 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