Lodos: A lightweight simulator for contact-rich interactions with detailed meshes

Lodos is a simulation framework designed from scratch, using new broadphase and narrowphase collision detection and contact dynamics computation to specifically handle mesh-mesh collisions between detailed meshes. The authors state that its physical fidelity is comparable to existing mature simulators, and that in mesh-mesh collision scenarios its throughput is about an order of magnitude higher; the source code has been released. The work targets contact-rich scenarios in large-scale parallel rigid-body simulation that are limited by approximating collision geometry with primitives such as spheres, capsules, cylinders, and boxes.