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

[+] Author Affiliations
Alessandro Tasora

University of Parma, Parma, Italy

Dan Negrut

University of Wisconsin, Madison, WI

Mihai Anitescu

Argonne National Laboratory, Argonne, IL

Paper No. IMECE2008-66766, pp. 107-118; 12 pages
  • ASME 2008 International Mechanical Engineering Congress and Exposition
  • Volume 11: Mechanical Systems and Control
  • Boston, Massachusetts, USA, October 31–November 6, 2008
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4872-2 | eISBN: 978-0-7918-3840-2
  • Copyright © 2008 by ASME


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 over-relaxation 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.

Copyright © 2008 by ASME



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