Real-Time Physics Simulation Forum 2021-02-18T17:03:50+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13101 2021-02-18T17:03:50+00:00 2021-02-18T17:03:50+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43319#p43319 <![CDATA[Re: recent PBD papers]]>
For one, it explains the guts of rigid body simulation better than other papers in the field that typically reference a dense thesis or abstract mathematical paper. There's a lot of distilled wisdom in that paper which is great for engineering applications.

Secondly, the paper eliminates a lot of the concerns with PBD around using real-world units.

I don't know of any engines that are using the "many substeps, single iteration" method yet. Though they demonstrate very promising results with it.

Statistics: Posted by kiaran — Thu Feb 18, 2021 5:03 pm

]]> 2020-11-04T20:47:34+00:00 2020-11-04T20:47:34+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43178#p43178 <![CDATA[recent PBD papers]]>
This one is really mind-blowing -- tiny time steps with a single-solver-iteration per step behaves a lot better than bigger steps with multiple solver iterations: https://matthias-research.github.io/pag ... lsteps.pdf

And more recently, a fully PBD-based rigid body simulation: https://matthias-research.github.io/pag ... Bodies.pdf

it looks like they still haven't solved the "collision detection needs to be moved into the solver, which is a big bottleneck" problem -- they're still doing "speculative constraints" (generating collision constraints for all *nearby* objects and then during solving skipping any that don't penetrate), and at a lower rate than the tiny steps. I wonder if an incremental approach might help, since when you're ticking at 1-2.4khz things are barely moving each tick.

Statistics: Posted by raigan2 — Wed Nov 04, 2020 8:47 pm

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