We present a time-stepping method to simulate rigid multibody dynamics with inelastic collision, contact, and friction. The method progresses with ﬁxed time step without backtracking for collision and solves at every step a strictly convex quadratic program. We prove that a solution sequence of the method converges to the solution of a measure diﬀerential inclusion. We present numerical results for a few examples, and we illustrate the diﬀerence between the results from our scheme and previous, linear-complementarity-based time-stepping schemes.
Preprint ANL/MCS-P1161-0504, Argonne National Laboratory, Argonne, Illinois, May 2004.