URL details: plancherb1.com/publication/grid/
URL title:
GRiD: GPU-Accelerated Rigid Body Dynamics with Analytical Gradients | Brian Plancher
URL description:
We introduce and release GRiD, an open-source, GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate nonlinear trajectory optimization through optimized code generation, GRiD provides as much as a 7.2x speedup over a state-of-the-art, multi-threaded CPU implementation and maintains as much as a 2.5x speedup when accounting for I/O overhead.
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