Simulations of multi-body dynamics for computer graphics, 3D game engines, or engineering simulations often involve contact and articulated connections to produce plausible results. Multi-body dynamics simulations generally require accurate contact detection and induce high computational costs because of tiny time increments. As higher accuracy and robustness are continually being sought for engineering purposes, we propose an improved multi-body dynamics simulator based on an impulse method, specifically an energy-tracking impulse (ETI) algorithm that has been modified to handle particle-discretized rigid-body simulations. In order to decrease the computational costs of the simulations, in the current work, we assume a fixed moderate time increment, allowing multiple-point contacts within a single time increment. In addition to that, we distinguish the treatment between point-to-point and multiple-point contacts, which include edge-to-surface and surface-to-surface contacts, through an additional sub-cycling iterations. The improved ETI method was verified with analytical solutions of examples with single-body contact, a frictional slip, and a rolling contact. Moreover, the method was also validated with an experimental test of a line of dominoes with multiple-point contacts. Finally, a demonstration simulation with bodies of complicated shape subjected to a large number of constraints is given to show the optimum performance of the formulation.

计算机图形学，3D游戏引擎的多体动力学仿真或工程仿真通常涉及接触和关节连接，以产生合理的结果。多体动力学模拟通常需要精确的接触检测，并且由于微小的时间增量而导致较高的计算成本。由于出于工程目的不断寻求更高的精度和鲁棒性，我们提出了一种基于脉冲方法的改进的多体动力学模拟器，特别​​是一种经过改进以处理离散离散刚体的能量跟踪脉冲（ETI）算法模拟。为了减少模拟的计算成本，在当前工作中，我们假设固定的中等时间增量，允许在一个时间增量内进行多点接触。在此之上，通过额外的子循环迭代，我们区分了点对点和多点接触的处理方式，包括边对面接触和面对面接触。改进的ETI方法通过具有单体接触，摩擦滑移和滚动接触的示例的分析解决方案进行了验证。此外，该方法还通过多点多米诺骨牌线的实验测试得到了验证。最后，给出了一个复杂形状的实体受到大量约束的演示模拟，以显示该配方的最佳性能。改进的ETI方法通过具有单体接触，摩擦滑移和滚动接触的示例的分析解决方案进行了验证。此外，该方法还通过多点多米诺骨牌线的实验测试得到了验证。最后，给出了一个复杂形状的实体受到大量约束的演示模拟，以显示该配方的最佳性能。改进的ETI方法通过具有单体接触，摩擦滑移和滚动接触的示例的分析解决方案进行了验证。此外，该方法还通过多点多米诺骨牌线的实验测试得到了验证。最后，给出了一个复杂形状的实体受到大量约束的演示模拟，以显示该配方的最佳性能。