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Once your CAD model has been converted into USD and organized into a simulation-ready stage, the next step is defining the mathematical rules that govern its behavior. In Omniverse, this means attaching physics properties to your objects and configuring the PhysX engine to simulate motion, collisions, forces, and constraints. This post walks through how the simulation engine acts as your mathematical model—and how to configure it for both deterministic and stochastic use cases.
In classical simulation modeling, a mathematical model refers to a system of equations (often differential equations) that describe how a system evolves over time. In Omniverse, you don’t have to write those equations by hand. Instead, Omniverse’s PhysX engine interprets mass, velocity, joint constraints, and external forces to simulate those dynamics for you—frame by frame.
Omniverse simulates continuous motion using a time-stepped solver. At each simulation tick (e.g., 60 or 120 Hz), the engine performs the following:
This continuous loop forms the “engine” of your simulation. It runs as long as the simulation is active—whether in real time (interactive mode) or headless batch mode.
To get accurate and meaningful results from simulation, you need to configure the right physical parameters on your USD prims.
physxRigidBodyAPI
to any object you want to simulate dynamically.mass
: total mass of the body.linearDamping
, angularDamping
: to simulate air resistance or internal friction.startVelocity
: for initial movement.disableGravity
: if you want the object to float.physxJointAPI
(revolute, prismatic, spherical, etc.) to connect bodies.collisionAPI
with:collisionEnabled = true
collisionGeometry
: convex hull or meshrestitution
, friction
: for bounces and sliding behaviorgravityDirection = (0, -1, 0)
gravityMagnitude = 9.81
solverIterations = 8–32
depending on stiffness of constraints// Pseudocode: random force once per second
if time_changed_by_1_sec:
force = random(-3, 3)
applyForce("WingLeft", force)
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