Simulating frictional contact is a challenging computational task and there exist a variety of techniques to do so. One such technique, the staggered projections algorithm, requires the solution of two convex quadratic program (QP) subproblems at each iteration. We introduce a method, SCHURPA, which employs a primal-dual active-set strategy to efficiently solve these QPs based on a Schur-complement method. A single factorization of the initial saddle point system and a smaller dense Schur-complement is maintained to solve subsequent saddle point systems. Exploiting the parallelizability and warm-starting capabilities of the active-set method as well as the problem structure of the QPs yields a novel approach to the problem of frictional contact. Numerical results of a parallel GPU implementation using NVIDIA’s CUDA applied to a physical simulator of highly deformable bodies are presented.<\/p>\n","protected":false},"excerpt":{"rendered":"
Simulating frictional contact is a challenging computational task and there exist a variety of techniques to do so. One such technique, the staggered projections algorithm, requires the solution of two convex quadratic program (QP) subproblems at each iteration. We introduce a method, SCHURPA, which employs a primal-dual active-set strategy to efficiently solve these QPs based […]<\/p>\n","protected":false},"author":351,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[36,11,89,3,12],"tags":[1787,1782,14,288,20,974,1783,390],"class_list":["post-8963","post","type-post","status-publish","format-standard","hentry","category-algorithms","category-computer-science","category-nvidia-cuda","category-paper","category-physics","tag-algorithms","tag-computer-science","tag-cuda","tag-factorization","tag-nvidia","tag-nvidia-geforce-gtx-580","tag-physics","tag-thesis"],"views":2333,"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts\/8963","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/users\/351"}],"replies":[{"embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=8963"}],"version-history":[{"count":0,"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts\/8963\/revisions"}],"wp:attachment":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=8963"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=8963"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=8963"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}