Large-Scale Parallel Multibody Dynamics with Frictional Contact on the Graphical Processing Unit

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-Jacobimethods with overrelaxation for symmetric convex linear complementarity problems. Convergent under fairly … Read more