Abstract: A system and method for solving linear complementarity problems for rigid body simulation is disclosed. The method includes determining one or more contact constraints affecting an original object having an original mass. The method includes splitting the original object by a total number of the contact constraints into a plurality of sub-bodies. The method includes assigning a contact constraint to a corresponding sub-body. The method further includes solving contact constraints in isolation for each sub-body. The method also includes enforcing positions and orientations of each sub-body are identical.

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.

Abstract: A system and method for solving linear complementarity problems for rigid body simulation is disclosed. The method includes determining one or more contact constraints affecting an original object having an original mass. The method includes splitting the original object by a total number of the contact constraints into a plurality of sub-bodies. The method includes assigning a contact constraint to a corresponding sub-body. The method further includes solving contact constraints in isolation for each sub-body. The method also includes enforcing positions and orientations of each sub-body are identical.

Abstract: A system and method for solving linear complementarity problems for rigid body simulation is disclosed. The method includes determining one or more contact constraints affecting an original object having an original mass. The method includes splitting the original object by a total number of the contact constraints into a plurality of sub-bodies. The method includes assigning a contact constraint to a corresponding sub-body. The method further includes solving contact constraints in isolation for each sub-body. The method also includes enforcing fixed joint constraints exactly, such that positions and orientations of each sub-body are identical.

Abstract: A system and method for solving linear complementarity problems for rigid body simulation is disclosed. The method includes determining one or more contact constraints affecting an original object having an original mass. The method includes splitting the original object by a total number of the contact constraints into a plurality of sub-bodies. The method includes assigning a contact constraint to a corresponding sub-body. The method further includes solving contact constraints in isolation for each sub-body. The method also includes enforcing fixed joint constraints exactly, such that positions and orientations of each sub-body are identical.

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.