Simulation Setup and Configuration#
USD assets can be annotated with UsdPhysics Schema and PhysX Schema to give them physical properties for simulation.
Here we introduce the different types of simulation objects and the additional USD elements that can be used to configure the simulation behavior.
- Colliders
- Rigid Bodies
- Create and Destroy a Rigid Body
- Kinematic Rigid Body
- Disabling a Rigid Body
- Rigid Body Frames
- Create a Rigid Body with a Collider
- Configure a Rigid Body with multiple Colliders
- Configure Rigid Body’s Material Properties
- Configure Rigid Body Material Combine Modes
- Configure Materials For Compliant Contacts
- Configure Rigid Body Mass Properties
- Configure Continuous Collision Detection on a Rigid Body
- Set Rigid Body Velocity
- Apply Force to a Rigid Body
- Configure Surface Velocity on Rigid Bodies
- Rigid Body Collider Compatibility
- Rigid Body Instancing
- Joints
- Articulations
- Articulation Tree Structure
- Floating and Fixed-Base
- USD Hierarchy / Articulation Root
- Create a Floating-Base Articulation
- Create a Fixed-Base Articulation
- Create an Articulation Based on Topology
- JointStateAPI for Set and Get of Joint Position And Velocity
- Articulation Joint Drive and Performance Envelope
- Articulation Joint Friction
- Closed Loops
- Exclude Joints from Articulations
- Articulation Mimic Joints
- Articulation Tendons
- Articulation Limitations and Differences
- Deformable Bodies
- Particles
- Simulation Control