Feature: FET_004_PHYSX#

Property

Value

Feature Name

FET_004_PHYSX

Runtime

PHYSX

Proprietary Techs

PhysX

Latest Version

0.4.0

Description#

The PhysX Multi-Body Physics feature defines the PhysX runtime contract for assets with multiple intended rigid bodies, joints, and PhysX-compatible multibody collision behavior.

Earlier versions add PhysX collider requirements on top of the Standard multibody contract. Version 0.4.0 is the current PhysX multibody contract and carries the joint, articulation, multibody, and nested-link requirements directly.

Dependency Graph#

        flowchart LR
    FET003P1["FET_003_PHYSX\n0.1.0"]
    FET003P4["FET_003_PHYSX\n0.4.0"]
    FET004S1["FET_004_STANDARD\n0.1.0"]
    FET004P1["FET_004_PHYSX\n0.1.0"]
    FET004P4["FET_004_PHYSX\n0.4.0"]

    FET004P1 --> FET003P1
    FET004P1 --> FET004S1
    FET004P4 --> FET003P4

    classDef current fill:#90EE90,stroke:#333
    classDef other fill:#fff,stroke:#333
    class FET004P1,FET004P4 current
    class FET003P1,FET003P4,FET004S1 other

Use Cases#

  • PhysX multibody props and articulated mechanisms.

  • Isaac Sim or PhysX runtime assets with multiple rigid bodies.

  • Physics benchmarks that exercise jointed or linked bodies in a PhysX scene.

Requirements#

Version 0.1.0#

Details

Used in Profiles#

Feature Dependencies#

Property

Value

Dependency

Rigid Body Physics PhysX (FET_003_PHYSX@0.1.0)

Dependency

Multi-Body Physics Standard (FET_004_STANDARD@0.1.0)

Requirement List#

Capability

Requirements

Physics Colliders

COL.001

Version 0.2.0#

Details

Used in Profiles#

  • None documented.

Feature Dependencies#

Property

Value

Dependency

Rigid Body Physics PhysX (FET_003_PHYSX@0.2.0)

Dependency

Multi-Body Physics Standard (FET_004_STANDARD@0.1.0)

Changes From Version 0.1.0#

Version 0.2.0 replaces COL.001 with PHYSX.COL.001 and PHYSX.COL.002.

Version 0.3.0#

Details

Used in Profiles#

Feature Dependencies#

Property

Value

Dependency

Rigid Body Physics PhysX (FET_003_PHYSX@0.3.0)

Dependency

Multi-Body Physics Standard (FET_004_STANDARD@0.2.0)

Changes From Version 0.2.0#

Version 0.3.0 keeps the PhysX collider requirements and updates dependencies to the newer Standard and PhysX rigid-body contracts.

Version 0.4.0#

Details

Used in Profiles#

Feature Dependencies#

Property

Value

Dependency

Rigid Body Physics PhysX (FET_003_PHYSX@0.4.0)

Changes From Version 0.3.0#

Version 0.4.0 replaces the dependency-on-Standard shape with an explicit PhysX multibody requirement list:

Change

Requirements

Added

JT.001, JT.002, JT.003, JT.ART.002, JT.ART.003, JT.ART.004, RB.MB.001, RB.011, RB.012

Removed

Direct PHYSX.COL.001, PHYSX.COL.002; collider conformance is provided by FET_003_PHYSX@0.4.0

Pipelines#

Source file type:

  • .usd

    • Via CIP conversion from Standard multibody assets.

Validation or runtime pipeline:

  • SimReady validation - verifies the selected FET_004_PHYSX manifest.

  • SimReady Benchmark FET004 Multibody - verifies jointed multibody behavior in a PhysX scene.

Samples#

  • sample_content/common_assets/props_general/obs_workbench_tool_a01/simready_usd/sm_obs_workbench_tool_a01_01.usda - select the PhysX variant.

  • sample_content/common_assets/props_general/obs_electricians_large_tool_box_a01/simready_usd/sm_obs_electricians_large_tool_box_a01_01.usd - multibody prop (5 rigid bodies, 4 revolute joints); select the PhysX variant.

  • sample_content/common_assets/props_general/obs_joystick_a01/simready_usd/sm_obs_joystick_a01_01.usd - select the PhysX variant.

  • sample_content/common_assets/props_general/obs_lamp_revolute_a01/simready_usd/sm_obs_lamp_revolute_a01_01.usda - select the PhysX variant.

Benchmarks#

Adapters#

From Feature

To Feature

Adapter

Status

Notes

FET_004_STANDARD@0.1.0

FET_004_PHYSX@0.1.0

nv_core/cip_specs/asset_handler_modules/neutral_to_physx

Done

Sets PhysX SDF collider approximation on existing collider prims.