A Convex Formulation of Frictional Contact for the Material Point Method and Rigid Bodies

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In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios.

• We extend the linear corotational hyperelastic model into the realm of elastoplasticity and include an efficient return mapping algorithm.
• This approach is particularly effective for MPM simulations involving significant deformation and topology changes, while preserving the convexity of the optimization problem.
• Our method ensures global convergence, enabling the use of large simulation time steps without compromising robustness.