Is Genesis also using contact detection and MLCP iterative solving? #206
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Is Genesis also using contact detection and MLCP iterative solving? Why is it reportedly 80 times faster than PhysX in computations? |
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Answered by
YilingQiao
Dec 23, 2024
Replies: 2 comments
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@YilingQiao could you answer this? |
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0 replies
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We are not using MLCP but are instead following MuJoCo's convex optimization formula. Our collision detection utilizes a precomputed SDF-style support function for acceleration. Additionally, the warm start in collision resolving can save a lot of time for the solver. |
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Answer selected by
zhouxian
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We are not using MLCP but are instead following MuJoCo's convex optimization formula. Our collision detection utilizes a precomputed SDF-style support function for acceleration. Additionally, the warm start in collision resolving can save a lot of time for the solver.