I was wondering if anyone had looked at Kawachi's frictive impulse papers before. Copies of his papers can be found here: http://www.dh.aist.go.jp/~kawachi/pbm.html
I'm trying to implement his frictive impulse method at simultaneous contacts since my simulator already works at velocity level and uses impulses for keeping objects separate (simultaneous contact resolution using the LCP formulation.)
If you have implemented this before, I would like to know how you exactly set up the formulation and solved for tangential impulses. I completely understand how he came up with his constraints, but can't think of a way to implement the constraints.
Any help would be much appreciated.
If there's a better method for doing this please let me know.
Regards,
-jam