Lodos: A lightweight simulator accelerating mesh collisions

Onur Beker, Andreas René Geist, and Georg Martius submitted a paper proposing Lodos, a simulation framework designed from scratch, which uses new broad-phase and narrow-phase collision detection and contact dynamics computation to handle mesh-mesh collisions between fine meshes. The authors claim that in the fine mesh-mesh collision scenarios that Lodos specifically targets, its throughput is about an order of magnitude higher, with physical fidelity comparable to existing mature simulators; the source code has been made public. The work addresses the problem in large-scale parallel rigid body simulation where collision geometry is approximated with primitives such as spheres, capsules, cylinders, and boxes, which limits contact-dense scenarios. The above performance and fidelity are all claims made by the authors.

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