Argonne National Laboratory

A GPU-Based Implementation of a Core Convex Complementarity Approach for Simulating Rigid Body Dynamics with Frictional Contact

TitleA GPU-Based Implementation of a Core Convex Complementarity Approach for Simulating Rigid Body Dynamics with Frictional Contact
Publication TypeConference Paper
Year of Publication2007
AuthorsTasora, A, Negrut, D, Anitescu, M
Date Published12/2007
Other NumbersANL/MCS-P1545-0908
Abstract

In the context of simulating the frictional contact dynamics of large systems of rigid bodies, this paper reviews a novel method for solving large cone complementarity problems by means of a fixed-point iteration algorithm. The method is an extension of the Gauss-Seidel and Gauss-Jacobi methods with overrelaxation for symmetric convex linear complementarity problems. Convergent under fairly standard assumptions, the method is implemented in a parallel framework by using a single instruction multiple data computation paradigm promoted by the Compute Unified Device Architecture library for graphical processing unit programming. The framework supports the analysis of problems with a large number of rigid bodies in contact. Simulation
thus becomes a viable tool for investigating the dynamics of complex systems such as ground vehicles running on sand, powder composites, and granular material flow.

PDFhttp://www.mcs.anl.gov/papers/P1545.pdf