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

@article{Mazhar2015UsingNM,
  title={Using Nesterov's Method to Accelerate Multibody Dynamics with Friction and Contact},
  author={Hammad Mazhar and Toby Heyn and Dan Negrut and Alessandro Tasora},
  journal={ACM Trans. Graph.},
  year={2015},
  volume={34},
  pages={32:1-32:14}
}
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… CONTINUE READING

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