GPU Pro 5

4

VI

Two-Level Constraint Solver and

Pipelined Local Batching for

RigidBodySimulationonGPUs

Takahiro Harada

4.1 Introduction

GPUs are attractive processors to execute large-scale dynamic physics simula-

tions because of their high bandwidth and computational power. Studies on ac-

celerating relatively simple simulations include particle-based [Harada et al. 07],

cloth [Zeller 05], and grid-based fluid [Harris 04] simulations. However, there are

few works on accelerating rigid body simulation using GPUs. Rigid body simula-

tion in general consists of broad-phase collision detection, narrow-phase collision

detection, and constraint solving [van den Bergen