Hi all, I'm still pretty new to Project Chrono and am really impressed by its capabilities! I was looking through both the SCM and DEM methods for deformable terrain simulation, and the GPU-based parallelization of DEM simulations seem incredibly useful. However, when running SCM based parallelization, I noticed that it still uses multi-CPU thread parallelization instead of GPU-based parallelization for the same operations. While this allows a single agent to run in close to real time, it makes data collection over multiple runs very slow; makes running faster than real time difficult, while more threads could conceivably speed up the process; and running multiple agents and simulations in parallel difficult without the use of university-level supercomputers. I'm particularly interested in learning-based control strategies, which would require *many* runs for data collection across multiple environments; parallelizing the SCM process would potentially allow for much faster simulation.
Are there any plans ongoing to integrate GPU support for SCM simulation? If not, are there any significant barriers to implementing it (beyond the [significant] hurdle of re-writing everything to interface with GPUs for tensor support)? I'm wondering if this hasn't been done because it's hard and nobody has had a particular use case for it, or if nobody's done it because the underlying mathematics behind SCM make it even more challenging in ways not immediately apparent. Thanks! -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/372003ae-f733-4ed5-a1ae-023632a14b13n%40googlegroups.com.
