Polygonal Contact Model revisited: notes on usage and improved implementation

Abstract

The Polygonal Contact Model is an established contact algorithm for multibody dynamics based on polygonal surfaces. Some guidance for its practical use is presented. In particular, assignment and discretization of the surface meshes are discussed with regard to correct results and optimal efficiency. Moreover, notes on stiffness and damping parameters are given. An improved implementation of the Polygonal Contact Model is introduced. The new algorithm goes without quite complicated intersection construction steps. As a consequence, it is less complex, more robust and usually more efficient than the classic implementation. Application examples of varied complexity demonstrate both notes on usage and improved implementation of the Polygonal Contact Model.