# Modular and Parallelizable Multibody Physics Simulation via Subsystem-Based ADMM

## TL;DR

This paper introduces a modular, parallelizable multibody physics simulation framework that leverages subsystem decomposition and ADMM to efficiently handle complex systems with coupled constraints.

## Contribution

The paper proposes a novel subsystem-based ADMM approach for multibody simulation, enabling parallel computation and improved scalability over existing methods.

## Key findings

- The method achieves faster simulation times.
- It scales well with system complexity.
- It maintains solution accuracy and convergence.

## Abstract

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.