VBD Formulation for Impulse-Based Collisions

Develop a method to handle impulse-based collisions within the Vertex Block Descent (VBD) framework, integrating an impulse-based collision model in the sense of Mirtich (1996) into VBD's optimization-based time stepping.

Background

The paper’s collision handling within VBD is based on a penetration potential, i.e., penalty forces. This choice does not enforce penetration-free behavior and contrasts with impulse-based approaches commonly used in rigid body dynamics.

In the context of extending VBD to rigid bodies, the authors explicitly defer the question of incorporating impulse-based collisions to future work, identifying it as an unresolved direction for integrating a different collision paradigm into the VBD solver.