IP-sim

IP(Incremental-potential)-based simulation written in rust.

Demos

1. Springs

2. Affine body

Problems:

grad & hess may be wrong (so convergence is not guaranteed): rotation of affine body is strange

Note:

• Use vis visualizer:
  • ./vis <frame_json_path> <pause_between_frames?>
  • Example: ./vis simsave_20240826_15_44_55/frame_409 true
• Currently implemented collision types:
  • body-boundary
  • inter-springbody
• To implement a new type of contact:
  • Contact-IP entrance: damped_newton_with_contact.rs function fill_frame;
  • Collision detection: refer to inter_body.rs.
• There are artifacts when two points collide (compared to point-edge collision).

TODO:

1. Test: edge on affine body: contact IP grad&hess
2. Contact: affinebody inter-body, affinebody with springsbody
   • inter-body ccd
   • inter-body contact pair
3. Implement inter-body (contact and ccd) pair collection;

Questions

1. How to implement singleton in rust?