G. D. Hart and M. Anitescu, "A Hard-Constraint Time-Stepping Approach for Rigid Multibody Dynamics with Joints, Contact, and Friction," Preprint ANL/MCS-P1099-1003, October 2003. [pdf]
We present a method for simulating rigid multibody dynamics with joints, contact, and friction. In this work, the nonsmooth contact and frictional constraints are represented by hard constraints. The method requires the solution of only one linear complementarity problem per step and can progress at much larger time steps than explicit penalty methods, which are currently the method of choice for most of these simulations.