I've been getting back into sim/pbd stuff after nearly a decade, and there have been a couple really interesting Position Based Dynamics papers released recently that I wanted to put on everyone's radar:
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.
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