Nonsmooth Dynamics

Scalable Solvers for Cone Complementarity Problems in Frictional Multibody Dynamics

An efficient MPI/OpenMP framework for complementarity formulation of large-scale rigid body dynamics problems with frictional contact.

Scalable Solvers for Frictional Rigid Body Contact

Develop collision detection and resolution schemes for rigid body collisions in large scale simulations by utilizing high performance computing and fast algorithms.