Distributed Affine Body Dynamics with Adaptive Consensus

Affine Body Dynamics (ABD) within the Incremental Potential Contact (IPC) framework provides accurate simulation of extremely stiff solids with near-rigid behavior and strict non-penetration guarantees. However, IPC’s globally coupled barrier constraints make it difficult to scale across multiple GPUs and compute nodes. This work introduces a distributed ABD formulation based on adaptive consensus, allowing each compute node to solve a local subproblem in parallel while a global consensus step maintains consistency across shared boundary bodies. The method preserves IPC-level robustness and global consistency under distributed execution, and experiments demonstrate stable convergence, non-penetration, and efficient scaling on large scenes across multiple nodes.