[ODE] ODE with non-penetration constraint

[Nguyen Binh]

>
>
>
> Of course most material combinations don't follow the Coloumb
> friction model either...


You meant Coloumb friction is also not accurate enough? I've talked to
people who study friction and most of them told me Coloumb is good enough
for rigid objects.Hertz model is another welknown friction model but it's
almost impossible to simulate.


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Binh Nguyen
Computer Science Department
Rensselaer Polytechnic Institute
Troy, NY, 12180
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