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PRODID:Linklings LLC
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TZID:Australia/Brisbane
X-LIC-LOCATION:Australia/Brisbane
BEGIN:STANDARD
DTSTART:19920301T030000
TZOFFSETFROM:+1100
TZOFFSETTO:+1000
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BEGIN:VEVENT
DTSTAMP:20191203T080637Z
LOCATION:Great Hall 1&2
DTSTART;TZID=Australia/Brisbane:20191117T181500
DTEND;TZID=Australia/Brisbane:20191117T181700
UID:siggraphasia_SIGGRAPH Asia 2019_sess222_tog_105@linklings.com
SUMMARY:Schur Complement-based Substructuring of Stiff Multibody Systems w
 ith Contact
DESCRIPTION:Technical Papers Fast-Forward \n\nSchur Complement-based Subst
 ructuring of Stiff Multibody Systems with Contact\n\nPeiret, Andrews, Kove
 cses, Kry, Teichmann\n\nSubstructuring permits parallelization of physics 
 simulation on multi-core CPUs. We present a new substructuring approach fo
 r solving stiff multibody systems containing both bilateral and unilateral
  constraints. Our approach is based on non-overlapping domain decompositio
 n with the Schur complement method, which we extend to systems involving c
 ontact formulated as a mixed bounds linear complementarity problem. At eac
 h time step, we alternate between solving the subsystem and interface cons
 traint impulses, which leads to the identification of the active constrain
 ts. By using the active constraints to compute the effective mass of subsy
 stems within the interface solve, we obtain an exact solution. We demonstr
 ate that our simulations have preferable behavior compared to standard ite
 rative solvers and substructuring techniques based on the exchange of forc
 es at interface bodies. We observe considerable speedups for structured si
 mulations where a user-defined partitioning can be applied, and moderate s
 peedups for unstructured simulations, such as piles of bodies. In the latt
 er case, we propose an automatic partitioning strategy based on the degree
  of bodies in the constraint graph. Because our method makes use of direct
  solvers, we are able to achieve interactive and real-time frame rates for
  a number of challenging scenarios involving large mass ratios, redundant 
 constraints, and ill-conditioned systems.\n\nRegistration Category: Platin
 um Pass, Full Conference Pass, Full Conference One-Day Pass, Basic Confere
 nce Pass, Student One-Day Pass, Exhibitor Pass
URL:https://sa2019.conference-program.com/presentation?id=tog_105&sess=ses
 s222
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