Dynamics with contact are often formulated as a constrained optimization problem. This approach allows handling in an integrated manner both non-penetration and frictional constraints. Following developments in the computational mechanics field, we have designed an algorithm for adding the simulation of adhesive contact constraints in the context of state-of-the-art constraint-based contact solvers. We show that implicit adhesion constraints can be handled with minor changes to existing solvers, and we demonstrate our algorithm on a diverse range of objects, including mass-spring cloth, volumetric finite-element models, and rigid bodies.

@InProceedings\{GSO10,
  author       = "Gascón, Jorge and Zurdo, Javier S. and Otaduy, Miguel A.",
  title        = "Constraint-Based Simulation of Adhesive Contact",
  booktitle    = "Proc. of the ACM SIGGRAPH / Eurographics Symposium on Computer Animation",
  year         = "2010",
  url          = "http://gmrv.es/Publications/2010/GSO10"
}