The authors reformulate frictionless smooth rigid-body contact as an adaptively augmented ReLCP that enforces nonpenetration directly on smooth geometry, with termination proofs for convex bodies and reduction to classical SNSD LCP at small timesteps.
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Smooth-Rigid-Body Contact as a ReLCP: A Recursively Generated Linear Complementarity Problem
The authors reformulate frictionless smooth rigid-body contact as an adaptively augmented ReLCP that enforces nonpenetration directly on smooth geometry, with termination proofs for convex bodies and reduction to classical SNSD LCP at small timesteps.