The research paper can be find here: https://graphics.cs.utah.edu/research/projects/ogc/Offset_Geometric_Contact-SIGGRAPH2025.pdf
Bellow is the abstract and the names of those involved in the research:
Offset Geometric Contact ANKA HE CHEN, University of Utah, NVIDIA, USA JERRY HSU, University of Utah, USA ZIHENG LIU, University of Utah, USA MILES MACKLIN, NVIDIA, New Zealand YIN YANG, University of Utah, USA CEM YUKSEL, University of Utah, USA
We present a novel contact model, termed Offset Geometric Contact (OGC), for guaranteed penetration-free simulation of codimensional objects with minimal computational overhead. Our method is based on constructing a volumetric shape by offsetting each face along its normal direction, en- suring orthogonal contact forces, thus allows large contact radius without artifacts. We compute vertex-specific displacement bounds to guarantee penetration-free simulation, which improves convergence and avoids the need for expensive continuous collision detection. Our method relies solely on massively parallel local operations, avoiding global synchronization and enabling efficient GPU implementation. Experiments demonstrate real-time, large-scale simulations with performance more than two orders of magni- tude faster than prior methods while maintaining consistent computational budgets.
This is my attempt at a physics engine in CUDA based on the research paper mentioned above.
For the first 0.1 version use this to compile: nvcc -O3 -std=c++17 --extended-lambda ogc_physics.cu -o ogc_physics