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LANS Publications

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

A. Tasora, D. Negrut, and M. Anitescu

Preprint ANL/MCS-P1545-0908

Preprint Version: [pdf]

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.