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71 lines
2.7 KiB
71 lines
2.7 KiB
2 years ago
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# Rigid IPC
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<img src="docs/imgs/teaser.png">
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[](https://github.com/ipc-sim/rigid-ipc/actions/workflows/continuous.yml)
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[](https://github.com/ipc-sim/rigid-ipc/blob/main/LICENSE)
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<b>Robust, intersection-free, simulations of rigid bodies.</b>
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This is the open-source reference implementation of the SIGGRAPH 2021 paper [Intersection-free Rigid Body Dynamics](https://ipc-sim.github.io/rigid-ipc/).
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## Files
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* `src/`: source code
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* `cmake/` and `CMakeLists.txt`: CMake files
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* `fixtures/`: input scripts to rerun all examples in our paper
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* `meshes/`: input meshes used by the fixtures
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* `tests/`: unit-tests
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* `tools/`: Python and Bash scripts for generating and processing results
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* `comparisons/`: files used in comparisons with other rigid body simulators
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* `python/`: Python binding files
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* `notebooks/`: Jupyter notebooks
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## Build
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To build the project, use the following commands from the root directory of the project:
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```bash
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mkdir build
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cd build
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cmake -DCMAKE_BUILD_TYPE=Release ..
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make -j4
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```
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### Dependencies
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**All dependancies are downloaded through CMake** depending on the build options.
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The following libraries are used in this project:
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* [IPC Toolkit](https://github.com/ipc-sim/ipc-toolkit): common IPC functions
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* [Eigen](https://eigen.tuxfamily.org/): linear algebra
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* [libigl](https://github.com/libigl/libigl): basic geometry functions, predicates, and viewer
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* [TBB](https://github.com/wjakob/tbb): parallelization
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* [Tight Inclusion CCD](https://github.com/Continuous-Collision-Detection/Tight-Inclusion): correct (conservative) continuous collision detection between triangle meshes in 3D
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* [spdlog](https://github.com/gabime/spdlog): logging information
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* [filib](https://github.com/txstc55/filib): interval arithmetic
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* [Niels Lohmann's JSON](https://github.com/nlohmann/json): parsing input JSON scenes
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* [tinygltf](https://github.com/syoyo/tinygltf.git): exporting simulation animation to GLTF format
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* [finite-diff](https://github.com/zfergus/finite-diff): finite difference comparisons
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* Only used by the unit tests and when `RIGID_IPC_WITH_DERIVATIVE_CHECK=ON`
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#### Optional
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* [Catch2](https://github.com/catchorg/Catch2.git): unit tests
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## Scenes
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We take as input a single JSON file that specifies the mesh and initial
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conditions for each body. The `fixtures` directory contains example scenes.
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## Python Bindings
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We expose some functionality of Rigid IPC through Python. This is still in
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development and lacks the ability to script many features available in the full
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simulator.
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To build the Python bindings use the `setup.py` script:
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```sh
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python setup.py install
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```
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