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

Survey of Rigid Body Simulation with Extended Position Based Dynamics