NVIDIA Corporation
Modified effective mass for parallel rigid body simulation

Abstract:

A system and method for solving linear complementarity problems for rigid body simulation is disclosed. The method includes determining a plurality of modified effective masses for a plurality of contacts between a plurality of bodies, wherein each modified effective mass term is based on a corresponding number of contacts. A plurality of relative velocities is determined based on the plurality of body velocities determined from a last iteration. A plurality of impulse corrections is determined based on the plurality of modified effective masses and the plurality of relative velocities. A plurality of updated impulses is determined based on the impulse corrections. The plurality of updated impulses is applied to the plurality of bodies based on a plurality of original masses of the bodies, body velocities determined from the last iteration, to determine a plurality of updated velocities of the plurality of bodies.