Lie group variational collision integrators for a class of hybrid systems (Q6969225)
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scientific article; zbMATH DE number 8054933
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| English | Lie group variational collision integrators for a class of hybrid systems |
scientific article; zbMATH DE number 8054933 |
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Lie group variational collision integrators for a class of hybrid systems (English)
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23 June 2025
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Based on nonsmooth Lagrangian mechanics, this research provides a complete framework for simulating 3D collisions between rigid convex bodies and a plane, including challenging cases involving bodies with sharp corners. A Lie group variational collision integrator (LGVCI) is systematically developed. This algorithm can preserve the fundamental geometric properties of the system.
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discrete variational mechanics
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variational integrators
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Lie group integrators
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collisions
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nonsmooth impacts
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hybrid systems
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