An improved convergence based on accelerated modulus-based Gauss–Seidel method for interactive rigid body simulations

In this paper, we propose a novel method that fits linear complementarity problems arising in interactive rigid-body simulations, based on the accelerated modulus-based Gauss–Seidel (AMGS) method. We give a new sufficient condition for the convergence of the generated sequence under a milder condition on the matrix splitting than the special case of the AMGS method. This gives a flexibility in the choice of the matrix splitting, and an appropriate matrix splitting can lead to a better convergence rate in practice. Numerical experiments show that the proposed method is more efficient than the simple application of the AMGS method, and that the accuracy in each step of the proposed method is superior to that of the projected Gauss–Seidel method.