Pthreads programming
Smoothing Newton and quasi-Newton methods for mixed complementarity problems
Computational Optimization and Applications - Special issue on nonsmooth and smoothing methods
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
Dynamic Simulation of Articulated Rigid Bodies with Contact and Collision
IEEE Transactions on Visualization and Computer Graphics
Mass splitting for jitter-free parallel rigid body simulation
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
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A hybrid, asynchronous, block parallel method to approximately solve complementarity problems (CPs) in real-time on multicore CPUs is described. These problems arise from interactive real-time simulations of systems of constrained, contacting rigid bodies, which are useful in virtual operator training systems for instance. A graph analysis phase identifies components which are weakly coupled using simple heuristics. Each component is then solved in parallel using either a block principal pivot or a projected block Gauss-Seidel method running in separate threads. Couplings which generate forces between the subsystems are handled iteratively using a Gauss-Seidel process which communicates updates between the interacting subsystems asynchronously. Preliminary results show that this approach delivers good performance while keeping overhead small.