Add Newton collision hulls, joint drives, inertia and loader (part 8)

README.md

@@ -49,7 +49,9 @@ Example: the V8 engine (`engineAssembly_v8_engine_a01`) is an 888 MB glb out of
 - `glb/<asset>.glb`: one file per SimReady asset folder, named like the folder in the source dataset.
 - `thumbs/<asset>.webp`: a 512 px render of each glb, with `thumbs/metadata.jsonl` holding its category, size,
   triangles and draw calls. The Dataset Viewer above shows this table.
-- `manifest.jsonl`: one line per asset with size, triangles, draw calls and textures before and after optimization.
+- `manifest.jsonl`: one line per asset with size, triangles, draw calls and textures before and after optimization,
+  plus the number of hulls, concave parts and drives.
+- `newton_loader/`: the loader for NVIDIA Newton.
 
 ## Download
 
@@ -124,6 +126,59 @@ movePart(gltf.scene.getObjectByName('door_01_obj_00'), 90);
 The 3D viewer shows a slider for each moving part. The files from before the physics data are kept at the `v1` tag:
 add `--revision v1` to the download command.
 
+## Simulating in NVIDIA Newton
+
+Each file with physics data also carries the data that a simulator needs and a viewer does not:
+
+- 17,507 collision hulls in `extras.collisionHulls` of each body node. 2,852 of the 8,496 parts are concave.
+  A concave part gets up to 8 hulls, so a cabinet or a bin stays hollow. A hull has at most 48 points, or 32 in a concave part.
+- 2,145 joint drives in 333 files, in the `drives` array of the joint in `KHR_physics_rigid_bodies`.
+- Inertia of 256 small parts in 67 files, which the earlier rounding had set to zero.
+
+These additions make the set 0.17% larger: 3,180.2 MB to 3,185.5 MB, with a median file of 0.416 MB. Meshes, materials and
+textures are byte-identical to the earlier files in all 2,595 files. The hulls sit after the old binary data, so
+existing loaders read the files as before.
+
+Half of the files have hulls within 3.9 mm of the part's own convex shape. The figure is 12 mm at the 95th percentile
+and 177 mm in the worst file. A hull side that is nearly flat along an axis is then made exactly flat, which moves its
+points outward by up to 2 cm. Newton's contact code turns an uneven bottom into false depth, which kicks the part upward.
+
+`newton_loader/simready_newton` adds a file to a Newton model. It needs Newton 1.7, SciPy and meshoptimizer.
+
+```python
+import newton
+import newton.solvers
+from simready_newton import add_simready_glb
+
+builder = newton.ModelBuilder(up_axis=newton.Axis.Y)
+builder.add_ground_plane()
+add_simready_glb(builder, "glb/bin_waste_a01.glb", position=(0.0, 0.5, 0.0))
+model = builder.finalize()
+solver = newton.solvers.SolverXPBD(model, iterations=8, joint_linear_relaxation=0.3, joint_angular_relaxation=0.2)
+```
+
+Use these two relaxation values with `SolverXPBD`. The default linear value of 0.7 went NaN on
+`scaffold_rolling_steel_a03` within a few frames. The default angular value of 0.4 went NaN on
+`climate_shopFan_pedestal_a01` when every joint was pushed at once. The loader read all 2,595 files with no failures.
+8 files have no rigid bodies, so it adds nothing for them.
+
+In a file with joints, the loader raises any part's inertia below 1e-4 kg·m² to that value. A part's rotation is slower
+than the source says, and it no longer shakes or goes NaN. Set `jointed_part_inertia_floor` to change the value. Files
+with one rigid body use 1e-6 kg·m² (`inertia_floor`).
+
+43 files across the categories were simulated at 60 fps with 8 substeps. 42 of them were compared with their SimReady USD:
+
+| Check | Result |
+| --- | --- |
+| Mass, center of mass, joint type, pivot, axis, limits, friction, restitution | Match |
+| Dropped from 20 cm stays finite | 43 of 43 |
+| Dropped from 20 cm is at rest after 3 s | 31 of 43 |
+| Dropped from 20 cm is at rest after 9 s (the 12 files left) | 10 of 12 |
+| Every joint pushed at once on a pinned base stays finite | 43 of 43 |
+
+At rest means under 0.05 m/s and 0.5 rad/s. The push test stops pushing a free axle above 200 rad/s. `conveyor_belt_a61`
+stayed finite at 400 rad/s and went NaN at 800 rad/s, so keep free axles below that at 480 substeps per second.
+
 ## How the files were made
 
 1. Download `simready_usd/` from each asset folder. `source_assets/` is skipped because it holds a second copy of
@@ -137,6 +192,8 @@ add `--revision v1` to the download command.
    (`EXT_meshopt_compression` with octahedral normals and quantized attributes).
 6. Read the rigid bodies, mass, physics materials and joints from the USD layers and write them into the glb JSON.
    The USD is Z-up, so joint frames and axes are turned to the glb's Y-up.
+7. Cut each concave part into convex pieces and keep the hull points that stick out most. Make nearly flat hull sides
+   exactly flat. Read the drives and the full inertia from the USD. Append the hulls after the binary data.
 
 Assets with UDIM textures have each tile split into its own material before the export, with its UVs moved into 0-1.
 Blender's own UDIM handling in the glTF exporter drops the faces of some tiles.
@@ -148,11 +205,21 @@ The conversion scripts are in
 
 ## Known gaps
 
-SimReady collides with signed distance fields built from each render mesh. The glbs use the convex hull of each
-mesh instead, which every engine can build, so hollow parts such as a cabinet body or a basket collide as if filled.
-`KHR_physics_rigid_bodies` is still a Khronos review draft, so check that your engine reads it; the node extras work
-with any loader. Joint drives and USD simulation settings are not carried over. Materials are converted to glTF PBR,
-so MDL-only shader effects are lost.
+SimReady collides with signed distance fields built from each render mesh. The `collider` of each mesh in
+`KHR_physics_rigid_bodies` stays one convex hull, which every engine can build, so hollow parts collide as if filled
+there. Use `extras.collisionHulls` to keep them hollow. `KHR_physics_rigid_bodies` is still a Khronos review draft, so
+check that your engine reads it. The node extras work with any loader. USD simulation settings are not carried
+over. Materials are converted to glTF PBR, so MDL-only shader effects are lost.
+
+In Newton, parts of one file do not collide with each other, because SimReady's overlapping parts jam their hinges
+otherwise. Nothing latches a door or a drawer, so use a drive to hold them closed. Two sample files do not stay still:
+
+- `electrical_power_terminal_a01` is 5.1 m tall and 0.52 m deep, and it falls over when it stands free. Load it with
+  `fixed_base=True`.
+- `paint_supplies_brush_a05`, a 44 g brush, still rocks after 9 s. With `rigid_contact_relaxation=0.2` it settles in 9 s.
+
+Inertia differs from the USD where the loader raises it to its floor. Only 43 of the 2,595 files had these simulation
+checks, so other files can have the same problems.
 
 Two joints in the USD are left out because they hold nothing: the fixed joint of
 `ladder_multiPurpose_aluminium_a05` points at a part with no rigid body, and one fixed joint of
@@ -160,6 +227,8 @@ Two joints in the USD are left out because they hold nothing: the fixed joint of
 
 ## Changelog
 
+- 2026-11-01: Added collision hulls that keep concave parts hollow, joint drives and the inertia of small parts.
+  Added a loader for NVIDIA Newton. The set grows by 0.17%. Meshes, materials and textures do not change.
 - 2026-10-29: Added physics from the USD files: rigid bodies, mass, physics materials and 5,550 joints, as
   `KHR_physics_rigid_bodies` and as node extras. The viewer shows a slider for each moving part. The files before this
   change are at the `v1` tag.

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