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|Session Name:||Math In Game Development Summit: Improving an Iterative Physics Solver Using a Direct Method|
|Track / Format:||Math In Game Development Summit|
|Overview:||As the content on Roblox is user generated, the physics engine is required to handle much more variety of interactions than other engines. Roblox doesn't have the luxury of using standard methods of fixing physics engine failures by tweaking the simulated models, their masses, inertias, removing over-constraints or using gameplay tricks to hide the issues. The requirement is stability at all costs. This session will describe how to use a direct matrix solver based on LDL matrix decomposition in tandem with a PGS solver (a.k.a. Sequential Impulse solver) to improve the stability of degenerate systems of constraints and rigid bodies.|