It genuinely breaks my brain how productive Sébastien is. Does he research and build these solutions by himself? Bevy has an extremely impressive voxel collision system, and now from what I can gather, maybe the most impressive real time soft body simulation. It really distinguishes itself as simulator, not just being a N+1 sim, but genuinely ground breaking in a lot of aspects. Amazing work! I wish I was as talented.
I hope they take a look at using a penalty based solver in the future, especially for their GPU sim, could really contend with MuJoCo/Genesis as the robotics sim engine.