📄️ Soft Duck with Visual Mesh
This example drops two identical soft ducks side by side. Both use the same coarse tetrahedral mesh for simulation, but only one uses the asset's embedded high-resolution visual mesh. The comparison shows how visual detail can be decoupled from simulation resolution.
📄️ Damping Parameter Sweep
In scenarios where quantitatively accurate dynamics are desired, it is recommended to use the BDF2 time integrator. However, to use this integrator effectively, it is important to calibrate physical damping parameters of all actors in a scene, because this integrator adds much less numerical dissipation than the default BackwardEuler. Two of the most important phenomena that often require physical damping for realistic responses are elasticity in deformable actors and compliant normal contact between rigid actors.
📄️ Cross-Thread Capture/Restore
Policy training and planning often evaluate several trajectories from one common simulation checkpoint. A parent can capture that checkpoint once, then give each worker a candidate control sequence and the same state bytes. Every worker restores those bytes into its own compatible scene and evaluates an independent simulated trajectory, or rollout.