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Projective Jacobi and Gauss-Seidel on the GPU for Non-Smooth Multi-Body Systems

[+] Author Affiliations
Gabriel Nützi, Adrian Schweizer, Michael Möller, Christoph Glocker

ETH Zurich, Zurich, Switzerland

Paper No. DETC2014-34606, pp. V006T10A013; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4639-1
  • Copyright © 2014 by ASME


Large-scale contact problems with impacts and Coulomb friction arise in the simulation of rigid body dynamics treated within the non-smooth contact dynamics approach using set-valued force and impact laws. In this paper the parallelization of two popular numerical methods for solving such contact problems on the GPU, being the projected over-relaxed Jacobi (JOR Prox) and projected Gauss-Seidel iteration (SOR Prox), is studied in detail. Performance tests for the parallel JOR and SOR Prox iterations are conducted and a speedup factor of up to 16, depending on the problem size, can be achieved compared to a sequential implementation. This work forms the stepping stone to the simulation of granular media on a computer cluster.

Copyright © 2014 by ASME



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