physx
https://github.com/nvidia-omniverse/physx
C++
NVIDIA PhysX SDK
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- Issues
- GPU articulations lose constraint impulses when an articulation skips a solver partition
- Keep GPU articulation path-to-root masks across skipped partitions
- Rejected shape attachment or detachment invalidates an unchanged pruning structure
- Fix wrong-owner articulation removal in PxAggregate
- Wrong-owner PxAggregate::removeArticulation creates stale ownership and a cleanup crash
- Triangle mesh CCD can return the moving shape center as the contact point after EPA failure
- PxAggregate::addArticulation bypasses validation and crashes on empty structures
- PxAggregate::addActor returns success and retains ownership after BVH rejection
- Articulations: configureJointDofs() leaves a stale invDofIds entry for an axis locked after an earlier configuration, so per-axis setters write into the wrong dof slot
- Triangle mesh CCD can discard a valid later collision
- Docs
- C++ not yet supported