Abstract: One embodiment of a method for controlling a robot includes performing a plurality of simulations of a robot interacting with one or more objects represented by one or more signed distance functions (SDFs), where performing the plurality of simulations comprises reducing a number of contacts between the one or more objects that are being simulated, and updating one or more parameters of a machine learning model based on the plurality of simulations to generate a trained machine learning model.

Abstract: A system, method, and computer program product are provided for determining one or more contact points between a pair of objects. In operation, a first contact normal is identified between a pair of objects at a first position. Additionally, a relative velocity of the pair of objects is determined at the first position. Furthermore, one or more contact points between the pair of objects are determined at a second position through a translational analysis, utilizing the first contact normal and the relative velocity.

Abstract: A physics software development kit (PSDK) provides scalable physics content as a “vertical” that defines one or more physics simulations for a graphics asset in a graphics scene. The vertical and the graphics asset may be provided in a verticals library associated with the PSDK or generated using the PSDK. The PSDK integrates the vertical into an existing graphics application to generate physically-realistic graphics content. The vertical may be scaled by a user according to the capabilities of a computer system that executes the PSDK or, alternatively, may be scaled by the PSDK based on received hardware capabilities information. The PSDK selectively offloads the physics simulations associated with the vertical to a physics processing unit to optimize usage of processor resources. In addition, the PSDK provides a technique to extract a graphics asset based on an existing 3D model of the object.

Abstract: A system, method, and computer program product are provided for determining one or more contact points between a pair of objects. In operation, a first contact normal is identified between a pair of objects at a first position. Additionally, a relative velocity of the pair of objects is determined at the first position. Furthermore, one or more contact points between the pair of objects are determined at a second position through a translational analysis, utilizing the first contact normal and the relative velocity.

Abstract: A method for visually representing an object by simulating the object as a particle with fewer degrees of freedom than those visually represented comprises simulating an object as a particle having linear motion. The method also comprises deriving an angular component of the particle from the linear motion of the particle. The method also comprises representing the object visually based on the linear motion and the derived angular component of the particle.

Abstract: A method for visually representing an object by simulating the object as a particle with fewer degrees of freedom than those visually represented comprises simulating an object as a particle having linear motion. The method also comprises deriving an angular component of the particle from the linear motion of the particle. The method also comprises representing the object visually based on the linear motion and the derived angular component of the particle.