A parallel block iterative method for interactive contacting rigid multibody simulations on multicore PCs
2007 (English)In: Applied parallel computing: state of the art in scientific computing / [ed] Kågström, B; Elmroth, E; Dongarra, J; Wasniewski, J, Berlin: Springer Berlin/Heidelberg, 2007, 956-965 p.Conference paper (Refereed)Text
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.
Place, publisher, year, edition, pages
Berlin: Springer Berlin/Heidelberg, 2007. 956-965 p.
Lecture Notes in Computer Science, ISSN 0302-9743 ; 4699
linear complementarity-problems, bodies
IdentifiersURN: urn:nbn:se:umu:diva-118224ISI: 000250904900113ISBN: 978-3-540-75754-2OAI: oai:DiVA.org:umu-118224DiVA: diva2:916717
8th International Workshop on Applied Parallel Computing (PARA 2006), JUN 18-21, 2006, Umea, SWEDEN