[Feature Request] Soft-soft collisions and self-collisions about joltphysics HOT 3 OPEN

Soft body physics is still in development but I haven't had much time to work on it lately.

Soft body vs soft body is something that I eventually want to support, but there are a lot of other things that have higher priority such as:

• Further optimizing and parallelizing the simulation
• Optimizing collision tests against soft body (= currently O(number of surface triangles))
• Collision listener callbacks
• Implementing missing interfaces like AddLinearImpulse etc.
• Supporting buoyancy

I'm wondering if an example/sample could be made showing a comparable process in Jolt?

I have put this on my list.

Tangentially, in terms of trade-offs relative to Jolt's approach, I'm wondering if anyone knows how MuJoCo's new "flex" based soft bodies work?

I haven't really looked into this, so I can't say much about this.

from joltphysics.

I literally gave it a try and was really happy with the result so far

It's complicated to see through, but yeah, past self collisions which are lacking, the animation looks beautiful.
Well done; really.

from joltphysics.

Also I haven't tried creating my own models yet, but think MuJoCo uses (or requires use of) gmsh and I also saw this comment:

To convert from tri-mesh to tet-mesh we used fTetWild.

and they end up with a tet-mesh that has more fidelity closer to the surface of the model, like this:

I'm wondering if an example/sample could be made showing a comparable process in Jolt? I.e. starting with a surface mesh (or an SDF, perhaps) and ending with a simple demo that drops a couple of them on top of one another (once soft-soft collision is supported).

from joltphysics.