Rigid and Affine Body Dynamics - #184

Draft

zfergus wants to merge 99 commits into

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Commits on May 31, 2024

Add start of dynamics code
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9b74235
Add comments to OrthogonalityPotential::hessian
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75d0588

Commits on Jun 6, 2024

Add J matrix to AffineBody class
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Commits on Nov 10, 2024

Merge branch 'main' into dynamics
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1e31d41

Commits on Nov 11, 2024

Fix comment
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5c73e27

Commits on Jun 8, 2025

Merge branch 'main' into dynamics
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73c28ce

Commits on Jun 13, 2025

[WIP] Implement rigid body dynamics framework
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47c282b

Commits on Jun 14, 2025

Fix rotation_vector_to_matrix derivatives
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caf4d50

Commits on Jun 17, 2025

Test RigidBody class
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59edd85

Commits on Jun 18, 2025

Test InertialTerm
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Add density parameter to mass calculations; store R0 in RB
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Add (empty) simulator loop
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5d7512a

Commits on Jun 21, 2025

Move body forces into separate class
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0107073

Commits on Aug 18, 2025

Commits on Aug 19, 2025

Remove unused K_dKj_plus_K_dKj_T
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Commits on Aug 20, 2025

Add RigidBody class bindings to expose mass and inertia properties.
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Commits on Aug 24, 2025

Commits on Aug 28, 2025

Commits on Sep 1, 2025

Merge branch 'main' into dynamics
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Merge branch 'main' into dynamics
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a5674a6

Commits on Jan 27, 2026

Merge branch 'main' into dynamics
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7c702d6
Refactor math utils and update NonlinearCCD API
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6b834f5
Fix NonlinearCCD parameter order
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d647396
Fix Clang-Tidy Errors
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63b330c
Add NOLINTNEXTLINE for identifier-naming
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Assert Q_hat size instead of torque size
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30c802f

Commits on Jan 28, 2026

Fix nonlinear CCD; update body force parameter names
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ebf466f
Use Eigen::ConstRef for function parameters
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7cb148b

Commits on Feb 1, 2026

Start work on RigidCandidates
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52bdbfd

Commits on Feb 2, 2026

Update normal hessians to vectorized 3rd-order tensor format
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d29ec6a
Remove invisible unicode
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1c89c51
Skip force and torque computations when zero
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e7c63c3

Commits on Feb 3, 2026

Fix normal hessian calculations for vectorized order
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22fc7b1

Commits on Feb 4, 2026

Commits on Feb 7, 2026

Merge branch 'main' into dynamics
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ae11670
Remove maybe_parallel_for from utils sources
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c182fe8
Rigid dynamics: simulator API, fixes, and tests
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41c8b71

Commits on Feb 9, 2026

Merge branch 'main' into dynamics
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0aa7eda

Commits on Feb 10, 2026

Add linearized rigid body collision to simulator
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5bb84f1

Commits on Feb 18, 2026

Enhance rigid body dynamics and GLTF I/O support
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40ec7cd

Commits on Feb 20, 2026

Improve robustness of rigid simulator
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29fdcb9

Commits on Feb 21, 2026

Use Eigen::Hyperplane for planes
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6a1b2c9
Refactor rigid/affine dynamics API and potentials
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Merge branch 'main' into dynamics
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72379e7
Enable extra-semi warning and fix extra semicolons
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122f4e7
Bump ipc_toolkit tests data Git tag
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Include <memory> in read_gltf.hpp
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Use Eigen::VectorXd for gradient in test
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Expose Eigen system include dir and fix tests
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Commits on Feb 28, 2026

Merge branch 'main' into dynamics
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Merge branch 'main' into dynamics
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Commits on Mar 1, 2026

Merge branch 'main' into dynamics
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0581aa9
Fix tests for ColMajor derivatives
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Merge branch 'main' into dynamics
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Merge branch 'main' into dynamics
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14503a6

Commits on Jul 4, 2026

Merge branch 'main' into dynamics
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60f9b69

Commits on Jul 5, 2026

Add optional glTF I/O for rigid-body scenes

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314b361

Commits on Jul 6, 2026

Add rigid-body collision detection and BDF time integration

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Commits on Jul 7, 2026

Restructure dynamics into a library/demo split with a polysolve solver

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Apply clang-format
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Merge branch 'main' into dynamics

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Fix CI: clang-tidy member naming and pin Windows to MSVC

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Include demo and glTF I/O in the coverage build

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Fix CI
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Fix debug tests and update polysolve
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be74bad
Set solver logger level to info; fix affine test
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Update polysolve
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Update clang-format-check and .gitattributes
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Merge remote-tracking branch 'origin/main' into dynamics
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Merge branch 'main' into dynamics
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f52fac8

Commits on Jul 8, 2026

Complete dynamics port: friction, static/kinematic, 2D, codim

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aecc0c1
Unify rotation derivatives and move AffinePose to ipc::affine::Pose

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Add ToAffine parameterization and BodyPotentials aggregator

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Unify RBD/ABD in the simulator via BodyPotentials + ToAffine; delete old terms

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Update demo README for the RBD/ABD unification

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2e95f6e
Applied clang-format
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Fix clang-tidy error
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db2a71d

Commits on Jul 9, 2026

Use MSVC /W4 instead of /Wall to reduce warning noise

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Fix MSVC build: use igl::PI instead of bare M_PI in demo tests

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Loosen affine rotation_vector unitary assert for ABD drift

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Apply clang-format
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55cc49e
Prevent nonunitary matrix from being passed to Pose::rotation_vector
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b2044f9
Fix clang-format pre-commit hook: add -i for in-place formatting
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64add5a
Update test_orthogonality_potential.cpp
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Silence MSVC warnings; fix Eigen SVD instantiation
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5ce8b57
Remove MSVC external warning suppression
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