Solvers

AgX supports the use of both direct and iterative solver kernels. These can also be used in combination for an optimal balance between speed and precision. Iterative relaxational solvers can give good realtime performance for large contact systems where precision is less important, while a direct solver is required for high fidelity simulation of stiff articulated systems.

Direct vs. iterative solvers

The above example shows a striking difference between direct and iterative solvers for a lumped element model of a steel beam. The iterative solver would require thousands of iterations to get to the precision required to simulate a stiff system.

Example wheel-loader

The example below shows simulation of a wheel-loader, where the vehicle dynamics is solved to high precision with a direct solver, whereas the rock dynamics is solved using an iterative solver.