Parallel linear complementarity solver for rigid body dynamics

A system and method for solving linear complementarity problems for rigid body simulation is disclosed. The method includes determining one or more contact constraints affecting an original object having an original mass. The method includes splitting the original object by a total number of the contact constraints into a plurality of sub-bodies. The method includes assigning a contact constraint to a corresponding sub-body. The method further includes solving contact constraints in isolation for each sub-body. The method also includes enforcing fixed joint constraints exactly, such that positions and orientations of each sub-body are identical.