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Table 2 Performance analysis of the excavation test involving \(N^\text {rb}\) rigid bodies and \(N^\text {p}\) particles

From: A multiscale model of terrain dynamics for real-time earthmoving simulation

 

\(N^\text {rb}\)

\(N^\text {p}\)

\(N^\text {rb}_\text {eq}\)

\(N^\text {p}_\text {eq}\)

\(N^\text {p}_\text {it}\)

Time-step [ms]

Real-time

Multiscale

8

950

85

1.8e4

10

16.7

1.5

Reference

4

50e3

48

1.2e6

500

1

0.001

Ratio

2

0.019

1.77

0.015

0.02

16.7

1500

  1. The direct MCP solver process \(N^\text {rb}_\text {eq}\) equations, and the iterative solver \(N^\text {p}_\text {eq}\) equations. The multiscale model is 1500 times more efficient due to the smaller number of equations for the iterative solver, fewer iterations, and larger time-step