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GDC 2020: Improving an Iterative Physics Solver Using a Direct Method. Maciej Mizerski, Roblox

Maciej Mizerski

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  • Presented by Maciej Mizerski, Roblox
  • May be out of date. Uploaded 6 years ago, in an area where tools change fast.

Advanced. Deep dive for people who know the field.

2.9K views6 years ago1 recommendation

Game developmentComputer scienceGame programmingAlgorithms

Maciej Mizerski describes the constraint solver and linear equation solver used for rigid body physics in the Roblox engine.

Description of the constraint solver used by the Roblox engine. Thanks to Roblox and the Simulation Team for caring about awesome physics, and thanks to GDC for inviting me to present this talk. Edit: at some point I mention other physics engines not being able to simulate a certain type of model... this is an incorrect statement. The PhysX engine is also capable, among others. This was meant to compare us to traditional PGS/Impulse Solver engines.

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1 person recommends this

What people say. Recommended as a great resource on modern physics engine constraint solvers and multibody dynamics.

u/therealjtgillin r/gameenginedevs • Recommends

On “Is there progress in physics engines?”

Minimal coordinate physics engines are new-ish. This was popularized by Featherstone's multibody dynamics with. Mujoco is a physics engine that uses a minimal coordinate representation of its rigid bodies. There was a GDC talk by the folks at Roblox describing an PGS and linear equation solver for long chains of equality and inequality constrained rigid bodies. See below. link to this video Catto also has a really good blog post on using graph coloring and SIMD to solve constraints. This technique is used by Bepu Physics. Speaking of Bepu, they have a "tootbird" approach to finding pairs of contacting bodies. It's kind of a perturbative approach. I'll add more as I think of them.
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