physx
https://github.com/nvidia-omniverse/physx
C++
NVIDIA PhysX SDK
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- Issues
- Apply the maximum contact impulse of GPU articulation links
- omni.physx: an articulation rooted at a revolute or prismatic world joint silently drops that joint's DOF
- GPU TGS rigid bodies lose velocity-iteration impulses with more than 2 × gpuMaxNumPartitions partitions
- Launch the GPU TGS velocity-iteration propagate for all bodies
- GPU articulation runs away after another articulation falls asleep or is removed
- Use the active index for GPU articulation reference counts
- GPU dynamics: a jointed rigid body switched from kinematic to dynamic can fall far too slowly (TGS) or gain momentum (PGS)
- Report the edges that IslandSim::setDynamic deactivates
- GPU TGS contact-last: articulation joints and contacts after partition 0 can read stale link velocities
- Flush GPU TGS articulation velocities after the contact-last first pass
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