Mass splitting for jitter-free parallel rigid body simulation

ACM Transactions on Graphics

Volumn 31, Issue 4, 2012, Pages

  Tonge, Richard ^a   Benevolenski, Feodor ^a   Voroshilov, Andrey ^a  

^a NVIDIA   (United States)

Author keywords

Contact; Friction; Non smooth dynamics; Rigid bodies

Indexed keywords

BODY MASS; EFFECTIVE MASS; GAUSS-SEIDEL; GPU IMPLEMENTATION; ITERATION COUNT; JITTER-FREE; LINEAR COMPLEMENTARITY PROBLEMS; NON-SMOOTH; PARALLEL IMPLEMENTATIONS; PROJECTED JACOBI; REAL TIME SIMULATIONS; RESIDUAL ENERGY; RIGID BODY;

CONTACTS (FLUID MECHANICS); FRICTION; ITERATIVE METHODS; JITTER; RIGID STRUCTURES;

PILES;

EID: 84872245389     PISSN: 07300301     EISSN: 15577368     Source Type: Journal    
DOI: 10.1145/2185520.2185601     Document Type: Article

References (33)

1. ANITESCU, M., AND POTRA, F. A. 1997. Formulating dynamic multi-rigid-body contact problems with friction as solvable linear complementarity problems. Nonlinear Dynamics 14, 231-247.
2. BARAFF, D. 1991. Coping with friction for non-penetrating rigid body simulation. In Proceedings of the 18th annual conference on Computer graphics and interactive techniques, ACM, New York, NY, USA, SIGGRAPH '91, 31-41.
3. BRIDSON, R., FEDKIW, R., AND ANDERSON, J. 2002. Robust treatment of collisions, contact and friction for cloth animation. Proceedings of ACM Siggraph, 594-603.
4. CATTO, E. 2005. Iterative dynamics with temporal coherence. Presented at the Game Developers Conference.
5. CLINE, M. B., AND PAI, D. K. 2003. Post-stabilization for rigid body simulation with contact and constraints. In ICRA, IEEE, 3744-3751.
6. COTTLE, R., PANG, J.-S., AND STONE, R. 1992. The Linear Complementarity Problem. Academic Press.
7. COUMANS, E. 2011. Game physics artefacts. Presented at the Game Developers Conference.
8. DAVIET, G., BERTAILS-DESCOUBES, F., AND BOISSIEUX, L. 2011. A hybrid iterative solver for robustly capturing coulomb friction in hair dynamics. In Proceedings of the 2011 SIGGRAPH Asia Conference, ACM, New York, NY, USA, SA '11, 139:1-139:12.
9. DOSTAL, Z., AND SCHOBERL, J. 2005. Minimizing quadratic functions subject to bound constraints with the rate of convergence and finite termination. Computational Optimization and Applications 30, 23-43.
10. ERLEBEN, K. 2004. Stable, Robust, and Versatile Multibody Dynamics Animation. PhD thesis, University of Copenhagen Copenhagen.
11. GUENDELMAN, E., BRIDSON, R., AND FEDKIW, R. 2003. Nonconvex rigid bodies with stacking. In ACM SIGGRAPH 2003 Papers, ACM, New York, NY, USA, SIGGRAPH '03, 871-878.
12. GUSTAFSSON, D. 2010. Understanding game physics artefacts. In Game Physics Pearls. A K Peters, ch. 2.
13. HARADA, T. 2007. Real-time rigid body simulation on GPUs. In GPU gems 3. Addison-Wesley Professional, ch. 29.
14. HARADA, T. 2009. Parallelizing the physics pipeline: Physics simulations on the GPU. Presented at the Game Developers Conference.
15. HARADA, T. 2011. A parallel constraint solver for a rigid body simulation. Presented at SIGGRAPH Asia.
16. HEGE, H.-C., AND STÜBEN, H. 1991. Vectorization and parallelization of irregular problems via graph coloring. In ICS, 47-56.
17. HSU, S.-W., AND KEYSER, J. 2010. Piles of objects. In ACM SIGGRAPH Asia 2010 papers, ACM, New York, NY, USA, SIGGRAPH ASIA '10, 155:1-155:6.
18. KAUFMAN, D. M., EDMUNDS, T., AND PAI, D. K. 2005. Fast frictional dynamics for rigid bodies. In ACM SIGGRAPH 2005 Papers, ACM, New York, NY, USA, SIGGRAPH '05, 946-956.
19. KAUFMAN, D. M., SUEDA, S., JAMES, D. L., AND PAI, D. K. 2008. Staggered projections for frictional contact in multibody systems. In ACM SIGGRAPH Asia 2008 papers, ACM, New York, NY, USA, SIGGRAPH Asia '08, 164:1-164:11.
20. LACOURSI ̀ERE, C. 2007. A parallel block iterative method for interactive contacting rigid multibody simulations on multicore pcs. In Proceedings of the 8th international conference on Applied parallel computing: state of the art in scientific computing, Springer-Verlag, Berlin, Heidelberg, PARA'06, 956-965.
21. LENGYEL, E. 2011. A jitter-tolerant rigid body sleep condition. In Game Engine Gems 2. A K Peters, ch. 23.
22. MORALES, J., NOCEDAL, J., AND SMELYANSKIY, M. 2008. An algorithm for the fast solution of symmetric linear complementarity problems. Numerische Mathematik 111, 251-266.
23. MÜLLER, M., AND CHENTANEZ, N. 2011. Solid simulation with oriented particles. In ACM SIGGRAPH 2011 papers, ACM, New York, NY, USA, SIGGRAPH '11, 92:1-92:10.
24. MURTY, K. G. 1988. Iterative methods for LCPs. In Linear Complementarity, Linear and Non-linear Programming. Helderman Verlag, ch. 9.
25. NVIDIA. 2011. NVIDIA PhysX 3.2 user guide.
26. PARKER, E. G., AND O'BRIEN, J. F. 2009. Real-time deformation and fracture in a game environment. In Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, ACM, New York, NY, USA, SCA '09, 165-175.
27. RENOUF, M., AND ALART, P. 2005. Conjugate gradient type algorithms for frictional multi-contact problems: applications to granular materials. Computer Methods in Applied Mechanics and Engineering 194, 18-20, 2019-2041.
28. SILCOWITZ, M., NIEBE, S., AND ERLEBEN, K. 2010. A nonsmooth nonlinear conjugate gradient method for interactive contact force problems. The Visual Computer 26, 893-901.
29. STEWART, D. E., AND TRINKLE, J. C. 1996. An implicit timestepping scheme for rigid body dynamics with inelastic collisions and coulomb friction. International Journal for Numerical Methods in Engineering 39, 15, 2673-2691.
30. TASORA, A., NEGRUT, D., AND ANITESCU, M. 2008. A GPUbased implementation of a cone convex complementarity approach for simulating rigid body dynamics with frictional contact. ASME Conference Proceedings 2008, 48722, 107-118.
31. TONGE, R., ZHANG, L., AND SEQUEIRA, D. 2004. Method and program solving LCPs for rigid body dynamics. United States Patent 7079145.
32. TONGE, R., WYATT, B., AND NICHOLSON, B. 2010. PhysX GPU rigid bodies in Batman: Arkham Asylum. In Game Programming Gems 8, A. Lake, Ed. Cengage Learning, ch. 7.2, 590-601.
33. VIZING, V. G. 1964. On an estimate of the chromatic class of a p-graph. Diskret. Analiz. 3, 25-30.