Abstract

--- - 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. - Our algorithm explicitly models the curved trajectories traced by rigid bodies in both collision detection and response. For collision detection, we propose a conservative narrowphase 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. - 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.