Rigid IPC

Robust, intersection-free, simulations of rigid bodies.

This is the open-source reference implementation of the SIGGRAPH 2021 paper Intersection-free Rigid Body Dynamics.

Files

• src/: source code
• cmake/ and CMakeLists.txt: CMake files
• fixtures/: input scripts to rerun all examples in our paper
• meshes/: input meshes used by the fixtures
• tests/: unit-tests
• tools/: Python and Bash scripts for generating and processing results
• comparisons/: files used in comparisons with other rigid body simulators
• python/: Python binding files
• notebooks/: Jupyter notebooks

Build

To build the project, use the following commands from the root directory of the project:

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j4

Dependencies

Most dependancies are downloaded through CMake depending on the build options. The only exceptions to this are:

• Boost: We currently use the interval arithmetic library for interval root finding

Scenes

We take as input a single JSON file that specifies the mesh and initial conditions for each body. The fixtures directory contains example scenes.

Python Bindings

We expose some functionality of Rigid IPC through Python. This is still in development and lacks the ability to script many features available in the full simulator.

To build the Python bindings use the setup.py script:

python setup.py install