NVIDIA
Collision detection acceleration in integrator_euler & Support more constraint in XPBD
Hello! I am using Warp to do garment simulation. In the current version: (1) the particle_particle_contacts(eval_triangles) is not accelerated in integrator_euler. (2) FEM-Triangle and Bending constraint is not supported in XPBD. I am wondering if you have a plan to support these two functions in a newer version recently? Thank you for your work.
Hi @yuhan-zh,
By "not accelerated" you mean that we do not use an acceleration structure like a HashGrid, for example, to accelerate the triangle-particle collision queries? We haven't considered it so far, but that is something we might be looking into in the future. Generally, the broadphase for rigid shapes can similarly be accelerated, which is on our list of planned improvements.
We will add support for the triangle and bending constraints, as well as particle-triangle contact handling to simulate cloth in XPBD very soon.
Hi @eric-heiden , Thanks for your fast reply! Yes, by "not accelerated" I mean that there is no acceleration structure like a HashGrid. Cause I am using a dense garment mesh, the particle-shape collision is okay for now. But the simulator is basically not runnable with particle-triangle collision handling turned on, on my GPU. It will be great if Wrap can have improvement on this. And yeah I am more looking forward to XPBD supporting these constraints and particle-triangle contact handling. I noticed that Wrap already has a HashGrid implemented for the XPBD, so I expect the garment self-intersection handling could run in a reasonable time. Thank you for your wonderful work,
Hi @yuhan-zh , we've just shipped a new cloth self-collision method in the VBDIntegrator, please try it out and let us know if you have any feedback and open another issue if you run into problems.
https://github.com/NVIDIA/warp/blob/main/warp/sim/integrator_vbd.py#L1341
Cheers, Miles
