Currently, I am conducting a simple block demo with GPU dynamics enabled, simulating SDF-SDF contact and SDF-Triangle Mesh contact. In the SDF-SDF simulation results, there is no penetration, and the simulation runs smoothly. However, in the SDF-Triangle Mesh demo, although there is no penetration, the block set with SDF can be seen vibrating in the video.
Here is the video demonstrating the SDF-SDF simulation.
Additionally, here is the video showing the SDF-Triangle Mesh simulation.
What could be causing this issue? Could it be that the position/velocity solver substeps are too low in the 60Hz simulation?
Hi, SDF vs triangle mesh collisions are sometimes a bit shaky. We have ideas about how to improve it but at the moment they are unfortunately not yet implemented. Work arounds are using a higher number of triangles (evenly distributed over the surface, no sliver triangles if possible) on the triangle mesh (the triangle count on the SDF mesh does not matter in this case). Also using 120 sim steps per simulation step can be helpful in cases where the performance allows it. Contact and rest offset can also be adjusted to see if the collision behavior gets better. Hope that helps a bit.