PBD-R adds a momentum-conservation constraint to position-based dynamics to deliver physically accurate rigid-body dynamics while remaining computationally lighter than MuJoCo.
Macklin,Warp: A High-performance Python Framework for GPU Simulation and Graphics, NVIDIA GPU Technology Con- ference (GTC), Mar
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Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
PBD-R adds a momentum-conservation constraint to position-based dynamics to deliver physically accurate rigid-body dynamics while remaining computationally lighter than MuJoCo.