Gascon, JorgeZurdo, Javier S.Otaduy, Miguel A.MZoran Popovic and Miguel Otaduy2014-01-292014-01-292010978-3-905674-27-91727-5288https://doi.org/10.2312/SCA/SCA10/039-044Dynamics 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.Categories and Subject Descriptors (according to ACMCCS): I.3.7 [Computer Graphics]: Three Dimensional Graphics and Realism-Animation