physx
https://github.com/nvidia-omniverse/physx
C++
NVIDIA PhysX SDK
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- Issues
- GPU articulations of different sizes crash with CUDA error 700 after an articulation falls asleep or is removed
- Write every link field in the GPU articulation link update
- Articulations: `pxcFsGetVelocities()` skips the ancestor's own joint when one link is an ancestor of the other
- Propagate the ancestor's own joint in pxcFsGetVelocities()
- Fix the BV4 tree build where size_t is 32 bits wide
- [OVPhysX 0.6.3] Add native fast-path cloning for surface and volume deformables
- Articulation joint velocity limit: one DOF above its limit slows every DOF of the articulation, and the CPU reads the wrong axis
- Clamp articulation joint velocities per DOF instead of scaling all DOFs
- GPU articulations with more than 64 links: impulse propagation walks past the common node and reads uninitialized root-link data
- Stop GPU articulation impulse traversal at the common node
- Docs
- C++ not yet supported