Projection-Based Handling of Contact Constraints

Better preconditioning if prefiltered system is used solve using PCG method Required to fulfill requested accuracy MPCG for Contact Constraints In each MPCG iteration: Project search direction onto feasible space Solve while enforcing Active-Set Method Compute step direction update C and b take step This research has been partially funded by the German Federal Ministry of Education and Research (BMBF) under grant 01IS17047.