research-article

Using Nesterov's Method to Accelerate Multibody Dynamics with Friction and Contact

Authors:

Alessandro TasoraAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 34, Issue 3

Article No.: 32, Pages 1 - 14

https://doi.org/10.1145/2735627

Published: 08 May 2015 Publication History

Abstract

We present a solution method that, compared to the traditional Gauss-Seidel approach, reduces the time required to simulate the dynamics of large systems of rigid bodies interacting through frictional contact by one to two orders of magnitude. Unlike Gauss-Seidel, it can be easily parallelized, which allows for the physics-based simulation of systems with millions of bodies. The proposed accelerated projected gradient descent (APGD) method relies on an approach by Nesterov in which a quadratic optimization problem with conic constraints is solved at each simulation time step to recover the normal and friction forces present in the system. The APGD method is validated against experimental data, compared in terms of speed of convergence and solution time with the Gauss-Seidel and Jacobi methods, and demonstrated in conjunction with snow modeling, bulldozer dynamics, and several benchmark tests that highlight the interplay between the friction and cohesion forces.

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Using Nesterov's Method to Accelerate Multibody Dynamics with Friction and Contact

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 34, Issue 3

April 2015

152 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/2774971

Editor:
Kavita Bala
Cornell University

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Copyright © 2015 ACM.

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Publication History

Published: 08 May 2015

Accepted: 01 February 2015

Revised: 01 January 2015

Received: 01 September 2014

Published in TOG Volume 34, Issue 3

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