Time-stepping for threedimensional rigid body dynamics

Traditional methods for simulating rigid body dynamics involve determining the current contact arrangement (e.g., each contact is either a \rolling " or \sliding " contact). this approach is most clearly seen in the work of and Pfeier and Glocker. However, there has been a contro-versy about the status of rigid body problems in the area that do not famous, if not the earliest example is due Recently, a number of time-stepping methods have been developed to overcome this diculty. These time-stepping methods use integrals of the forces over forces. separate newest of these methods are developed in terms of complementarity problems. time-stepping procedure simulating rigid body dynamics with friction. Proof of the existence of solutions to the continuous problem can be measure dierential inclusions methods. There are, however, a number of limitations with the methods. In this paper several variants will be discussed and their essential properties proven.