physx
https://github.com/nvidia-omniverse/physx
C++
NVIDIA PhysX SDK
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- Issues
- Coriolis compensation: GPU velocity clamp uses another axis's limit and is one-sided, and the queries write back clamped velocities
- Fix the joint velocity clamp of the Coriolis compensation queries
- Mass matrix and joint force queries leave out the joint armature
- Include the joint armature in the mass matrix and joint force queries
- Removing all contacts with Contact Modifier wakes bodies up
- GPU TGS: with external forces every iteration, an articulation applies another articulation's joint forces and gravity after an articulation falls asleep or is removed
- Use the remap id in the GPU TGS substep force kernel
- PxDirectGPUAPI::copyContactData reports the pairs of an earlier call again when the scene has no narrowphase pair
- Report zero contact pairs from copyContactData when there are none
- GPU articulations ignore the maximum contact impulse of their links
- Docs
- C++ not yet supported