PARALLEL LCP SOLVER AND SYSTEM INCORPORATING SAME

摘要

Use of CAM (50) illustrates one presently preferred scheme by which successful parallel execution of a LCP computational method is accomplished. In this regard, CAM (50) is a conventional circuit that functions as a type of specialized memory. ICU (51) logically controls and arbitrates the distribution of constraint rows from IPE memory 52 to a selected one of the plurality of executions units in accordance with data stored in CAM (50). That is, an island data set is transferred to IPE memory (52) from external memory 20 or directly from system (7). The island data set comprises a large collection of constraint rows defining the rigid body island. By careful utilization of CAM (50), data corresponding to a selected group of constraint rows is transferred from IPE memory (52) to a selected execution unit memory, e.g., VPU memory (54). Thereafter, the grouping or "subspace" of constraint rows is resolved in the corresponding execution unit.