软体果冻雨

Tetrahedralise a few source meshes and store tet vertex positions, velocities and rest-shape matrices in storage buffers. Each substep, predict positions, then in a compute shader evaluate a corotated or Neo-Hookean FEM constraint per tetrahedron and apply position corrections, followed by a ground and wall collision pass. Build a uniform spatial hash grid of vertices for soft-soft collisions and push overlapping vertices apart. Skin the visible surface mesh to the tets with barycentric weights and draw all bodies instanced.