Courtecuisse, HadrienAllard, JérémieDuriez, ChristianCotin, StéphaneKenny Erleben and Jan Bender and Matthias Teschner2014-02-012014-02-012010978-3-905673-78-4https://doi.org/10.2312/PE/vriphys/vriphys10/059-068In this paper, we present a set of methods to improve numerical solvers, as used in real-time non-linear deformable models based on implicit integration schemes. The proposed approach is particularly beneficial to simulate nonhomogeneous objects or ill-conditioned problem at high frequency. The first contribution is to desynchronize the computation of a preconditioner from the simulation loop.We also exploit today's heterogeneous parallel architectures: the graphic processor performs the mechanical computations whereas the CPU produces efficient preconditioners for the simulation. Moreover, we propose to take advantage of a warping method to limit the divergence of the preconditioner over time. Finally, we validate our work with several preconditioners on different deformable models. In typical scenarios, our method improves significantly the performances of the perconditioned version of the conjugate gradient.Categories and Subject Descriptors (according to ACM CCS): I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling-Physically based modeling; G.1.3 [Numerical Analysis]: Numerical Linear Algebra- Conditioning, Linear systems (direct and iterative methods)