Rigid body simulation by relative sleeping

A system comprising:

• a memory with instructions stored thereon;
• and
• a processing device, coupled to the memory, the processing device configured to access the memory and execute the instructions, wherein the instructions cause the processing device to perform operations comprising:
• receiving a model representation of a plurality of rigid body objects, wherein the plurality of rigid body objects comprises at least a first rigid body object and a second rigid body object;
• receiving an input state of the plurality of rigid body objects represented by the model representation;
• determining that the first rigid body object and the second rigid body object are in contact;
• determining that a relative velocity between the first rigid body object and the second rigid body object meets a threshold velocity;
• responsive to determining that the first rigid body object and second rigid body object are in contact and that the relative velocity between the first rigid body object and the second rigid body object meets the threshold velocity, constructing a merged representation that represents the first rigid body object and the second rigid body object;
• applying a solver based on the input state and the merged representation to obtain an updated state for the first rigid body object and the second rigid body object, wherein the updated state includes at least one of:
• an updated position, an updated orientation, or an updated velocity for the first rigid body object and the second rigid body object;
• and
• causing the first rigid body object and the second rigid body object in the updated state to be displayed within a virtual environment.

A non-transitory computer-readable medium comprising instructions that, responsive to execution by a processing device, causes the processing device to perform operations comprising:

• receiving a model representation of a plurality of rigid body objects, wherein the plurality of rigid body objects comprises at least a first rigid body object and a second rigid body object;
• receiving an input state of the plurality of rigid body objects represented by the model representation;
• determining that the first rigid body object and the second rigid body object are in contact;
• determining that a relative velocity between the first rigid body object and the second rigid body object meets a threshold velocity;
• responsive to determining that the first rigid body object and second rigid body object are in contact and that the relative velocity between the first rigid body object and the second rigid body object meets the threshold velocity, constructing a merged representation that represents the first rigid body object and the second rigid body object;
• applying a solver based on the input state and the merged representation to obtain an updated state for the first rigid body object and the second rigid body object, wherein the updated state includes at least one of:
• an updated position, an updated orientation, or an updated velocity for the first rigid body object and the second rigid body object;
• and
• causing the first rigid body object and the second rigid body object in the updated state to be displayed within a virtual environment.