In this paper, we present a new multibody physics simulation framework that utilizes the subsystem-based structure and the Alternating Direction Method of Multiplier (ADMM). The major challenge in simulating complex high degree of freedom systems is a large number of coupled constraints and large-sized matrices. To address this challenge, we first split the multibody into several subsystems and reformulate the dynamics equation into a subsystem perspective based on the structure of their interconnection. Then we utilize ADMM with our novel subsystem-based variable splitting scheme to solve the equation, which allows parallelizable and modular architecture. The resulting algorithm is fast, scalable, versatile, and converges well while maintaining solution consistency. Several illustrative examples are implemented with performance evaluation results showing advantages over other state-of-the-art algorithms.

翻译：本文提出了一种新的多体物理仿真框架，该框架利用基于子系统的结构和交替方向乘子法（ADMM）。模拟具有高自由度的复杂系统的主要挑战在于大量的耦合约束和大规模矩阵。为应对这一挑战，我们首先将多体系统拆分为若干子系统，并根据其互联结构将动力学方程重新表述为子系统视角。随后，我们采用ADMM结合新颖的基于子系统的变量分裂方案对方程进行求解，该方案支持模块化与并行化架构。所得算法快速、可扩展、通用性强，并在保持解一致性的同时具有良好的收敛性。通过多个典型算例的性能评估结果，展示了该算法相比其他先进算法的优越性。