Interactive real-time rigid body simulation is a crucial tool in any modern game engine or 3D authoring tool. The quest for fast, robust and accurate simulations is ever evolving. PBRBD (Position Based Rigid Body Dynamics), a recent expansion of PBD (Position Based Dynamics), is a novel approach for this issue. This work aims at providing a comprehensible state-of-the art comparison between Position Based methods and other real-time simulation methods used for rigid body dynamics using a custom 3D physics engine for benchmarking and comparing PBRBD (Position Based Rigid Body Dynamics), and some variants, with state-of-the-art simulators commonly used in the gaming industry, PhysX and Havok. Showing that PBRBD can produce simulations that are accurate and stable, excelling at maintaining stable energy levels, and allowing for a variety of constraints, but is limited in its handling of stable stacks of rigid bodies.

翻译：交互式实时刚体仿真是现代游戏引擎或3D创作工具中的关键工具。对快速、鲁棒且精确仿真的追求不断发展。PBRBD（基于位置的刚体动力学）作为PBD（基于位置动力学）的最新扩展，为解决该问题提供了新颖方法。本研究旨在通过自定义3D物理引擎进行基准测试，对基于位置的方法及其他用于刚体动力学的实时仿真方法进行全面的最新对比，重点比较PBRBD（基于位置的刚体动力学）及其变体与游戏行业常用的最新仿真器PhysX和Havok。结果表明，PBRBD能够生成精确且稳定的仿真，在维持稳定能量水平方面表现优异，并支持多种约束条件，但在处理稳定刚体堆叠方面存在局限性。