Distributed Affine Body Dynamics with Adaptive Consensus

2026-05-15

AI Summary

This work addresses the challenge of efficiently scaling Affine Body Dynamics (ABD) within the Incremental Potential Contact (IPC) framework across multiple GPUs or nodes, where global coupling constraints hinder parallel scalability. To overcome this limitation, the authors propose a consensus-based distributed ADMM solver that decomposes the global problem into local subproblems solved in parallel, while enforcing consistency across shared boundary bodies through an adaptive consensus mechanism. This approach achieves, for the first time, scalable execution of ABD in distributed environments, preserving IPC-level guarantees of strict non-penetration and global consistency. The method demonstrates stable convergence and high parallel efficiency in large-scale multi-node scenarios, effectively balancing physical fidelity with computational scalability.

Abstract

Affine Body Dynamics (ABD) within the Incremental Potential Contact (IPC) framework provides accurate simulation of extremely stiff solids exhibiting near-rigid behavior, with strict non-penetration guarantees. However, IPC's globally coupled barrier constraints hinder scalable execution across multiple GPUs and compute nodes. We propose a distributed formulation of ABD using a consensus-based ADMM scheme. Each compute node solves its local ABD subproblem in parallel, followed by a global consensus step that enforces consistency among shared boundary bodies. The proposed method preserves IPC-level robustness and global consistency under distributed execution. Experiments demonstrate stable convergence, non-penetration, and efficient scaling on large-scale scenes across multiple nodes.

Problem

• Affine Body Dynamics
• Incremental Potential Contact
• Distributed Simulation
• Non-penetration
• Scalability

Innovation

• Distributed Simulation
• Affine Body Dynamics
• Consensus ADMM
• Incremental Potential Contact
• Scalable Physics