This study proposes a GPU-accelerated Position-Based Dynamics (PBD) system for realistic and interactive cloth simulation in Extended Reality (XR) environments, and comprehensively evaluates its performance and functional capabilities on standalone XR devices, such as the Meta Quest 3. To overcome the limitations of traditional CPU-based physics simulations, we designed and optimized highly parallelized algorithms utilizing Unity’s Compute Shader framework. The proposed system achieves real-time performance by implementing efficient collision detection and response handling with complex environmental meshes (RoomMesh) and dynamic hand meshes (HandMesh), as well as capsule colliders based on hand skeleton tracking (OVRSkeleton). Performance evaluations were conducted for both single-sided and double-sided cloth configurations across multiple resolutions. At a 32 × 32 resolution, both configurations maintained stable frame rates of approximately 72 FPS. At a 64 × 64 resolution, the single-sided cloth achieved around 65 FPS, while the double-sided configuration recorded approximately 40 FPS, demonstrating scalable quality adaptation depending on application requirements. Functionally, the GPU-PBD system significantly surpasses Unity’s built-in Cloth component by supporting double-sided cloth rendering, fine-grained constraint control, complex mesh-based collision handling, and real-time interaction with both hand meshes and capsule colliders. These capabilities enable immersive and physically plausible XR experiences, including natural cloth draping, grasping, and deformation behaviors during user interactions. The technical advantages of the proposed system suggest strong applicability in various XR fields, such as virtual clothing fitting, medical training simulations, educational content, and interactive art installations. Future work will focus on extending the framework to general deformable body simulation, incorporating advanced material modeling, self-collision response, and dynamic cutting simulation, thereby enhancing both realism and scalability in XR environments.

Self-collision detection has become the dominant computational bottleneck in GPU-accelerated cloth simulation, as modern parallel solvers such as XPBD have drastically reduced the cost of position updates while leaving collision resolution largely unoptimized. Existing spatial partitioning methods treat all cloth regions uniformly, saturating GPU memory bandwidth despite the fact that the vast majority of the mesh surface remains geometrically flat and collision-free at any given frame. We propose a hierarchical self-collision culling framework built upon a resolution-independent discrete curvature metric derived from the $h^2$-normalized Laplace-Beltrami operator, integrated with a discrete Kirchhoff–Love shell model combining distance and dihedral bending constraints within XPBD. Unlike prior cache-dependent acceleration strategies, our method tightly couples curvature-driven geometric pruning with a fused GPU kernel design and shows that this stateless formulation is both faster and physically more reliable. Evaluated on meshes of $512\times 512$ and $1024\times 1024$ particles, our method achieves a $5.5\%$ and $9.7\%$ FPS improvement alongside a $34.9\%$ and $28.4\%$ reduction in active collision pairs, respectively, with qualitative validation via high-fidelity rendering confirming artifact-free self-contact and strict ground-plane non-penetration. Ablation results further reveal that temporal coherence, conventionally regarded as an optimization standard, strictly degrades both performance (FPS decrease of $1.4\%p$ to $1.9\%p$) and physical accuracy (penetration depth increase of $36.1\%$ to $100.0\%$ relative to the curvature-only stage) on RTX 3070 GPU, advocating for stateless per-frame geometric evaluation as the preferred design paradigm.