Rigid Body Physics for Synthetic Data Generation

For synthetic data generation with concave collision objects, two physics simu- lations techniques are investigated; convex decomposition of mesh models for globally concave collision results, used with the physics simulation library Bullet, and a GPU implemented rigid body solver using spherical decomposition and impulse based physics with a spatial sorting-based collision detection. Using the GPU solution for rigid body physics suggested in the thesis scenes con- taining large amounts of bodies results in a rigid body simulation up to 2 times faster than Bullet 2.83.