"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 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.