RigidBody simulation for oblong shape on GPU

Omniverse Isaac Sim
1

Hi, I’m trying to attach rigidbody to an oblong-shaped object(rectangular cuboid) on GPU. I found that:

  1. If I use Convex Decomposition/Convex Hull/Bounding cube, it will fall back to CPU with this warning [Warning] [omni.physx.cooking.plugin] ConvexMeshCookingTask: failed to cook GPU-compatible mesh, collision detection will fall back to CPU. Collisions with particles and deformables will not work with this mesh. Prim /World/xxx
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  2. If I use Triangle Mesh/MeshSimplification, **triangle mesh and mesh simplification** are not supported by rigid bodies and fall back to convex hull
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I’ve been read these 2 documents carefully:

  1. Rigid-Body Simulation — Omniverse Extensions latest documentation
  2. Physics — Omniverse IsaacSim latest documentation

But it seems that the only way to simulate a oblong-shaped object(with rigidbody) on GPU is to use SDF mesh, which significantly takes more computing resource and memory. Do I have any other choice? Thanks very much.

2

Have the same problem.

What is oblong-shape mesh in IsaacSim and why is it special? Is there any GPU-compatible solution for applying collider to oblong mesh?

4

Hello, thank you for trying those 2 options. Unfortunately, the workaround using SDF Mesh is the current recommended direction we can provide. This is mentioned as part of our list of PhysX Engine Limitations in our current release.

5

Please post this as a separate topic post. Thanks!