Does anyone know what a good approach is to finding the optimal local transform of a mesh to construct it's BVH? I would assume you'd do something like calculating the average of the face normal weighted by the faces surface area to get the first plane and repeat that in 2D but not sure this really gives an optimal result

you encountered this problem in your REAC talk, what was your approach to this problem, or was it manually corrected?

Parallelizing the physics solver by Dennis Gustafson (https://youtu.be/Kvsvd67XUKw?si=moTxJqvke4g6835s) was a really cool talk. Always cool to see how people tackle an optimization Problem. The only thing I fundamentally disagree with is the use of parallel_for. This might look really innocent but will starve the CPU after each iteration and while not a lot of time seems to be lost per iteration you also have ramp-up/down costs of the threadpool. Used without care this ends up in a death by a thousand cuts scenario.