├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── img ├── 1.png ├── 2.png ├── 3.png ├── 4.png ├── 5.png ├── 6.png ├── 7.png └── 8.png └── simulators ├── 1_mass_spring ├── CMakeLists.txt ├── include │ ├── InertialEnergy.h │ ├── MassSpringEnergy.h │ ├── device_uti.h │ ├── simulator.h │ ├── square_mesh.h │ └── uti.h └── src │ ├── InertialEnergy.cu │ ├── MassSpringEnergy.cu │ ├── device_uti.cu │ ├── main.cpp │ ├── simulator.cu │ ├── square_mesh.cpp │ └── uti.cu ├── 2_dirichlet ├── CMakeLists.txt ├── include │ ├── GravityEnergy.h │ ├── InertialEnergy.h │ ├── MassSpringEnergy.h │ ├── device_uti.h │ ├── simulator.h │ ├── square_mesh.h │ └── uti.h └── src │ ├── GravityEnergy.cu │ ├── InertialEnergy.cu │ ├── MassSpringEnergy.cu │ ├── device_uti.cu │ ├── main.cpp │ ├── simulator.cu │ ├── square_mesh.cpp │ └── uti.cu ├── 3_contact ├── CMakeLists.txt ├── include │ ├── BarrierEnergy.h │ ├── GravityEnergy.h │ ├── InertialEnergy.h │ ├── MassSpringEnergy.h │ ├── device_uti.h │ ├── simulator.h │ ├── square_mesh.h │ └── uti.h └── src │ ├── BarrierEnergy.cu │ ├── GravityEnergy.cu │ ├── InertialEnergy.cu │ ├── MassSpringEnergy.cu │ ├── device_uti.cu │ ├── main.cpp │ ├── simulator.cu │ ├── square_mesh.cpp │ └── uti.cu ├── 4_friction ├── CMakeLists.txt ├── include │ ├── BarrierEnergy.h │ ├── FrictionEnergy.h │ ├── GravityEnergy.h │ ├── InertialEnergy.h │ ├── MassSpringEnergy.h │ ├── device_uti.h │ ├── simulator.h │ ├── square_mesh.h │ └── uti.h └── src │ ├── BarrierEnergy.cu │ ├── FrictionEnergy.cu │ ├── GravityEnergy.cu │ ├── InertialEnergy.cu │ ├── MassSpringEnergy.cu │ ├── device_uti.cu │ ├── main.cpp │ ├── simulator.cu │ ├── square_mesh.cpp │ └── uti.cu ├── 5_mov_dirichlet ├── CMakeLists.txt ├── include │ ├── BarrierEnergy.h │ ├── FrictionEnergy.h │ ├── GravityEnergy.h │ ├── InertialEnergy.h │ ├── MassSpringEnergy.h │ ├── SparseMatrix.h │ ├── SpringEnergy.h │ ├── device_uti.h │ ├── simulator.h │ ├── square_mesh.h │ └── uti.h └── src │ ├── BarrierEnergy.cu │ ├── FrictionEnergy.cu │ ├── GravityEnergy.cu │ ├── InertialEnergy.cu │ ├── MassSpringEnergy.cu │ ├── SpringEnergy.cu │ ├── device_uti.cu │ ├── main.cpp │ ├── simulator.cu │ ├── square_mesh.cpp │ └── uti.cu ├── 6_inv_free ├── CMakeLists.txt ├── include │ ├── BarrierEnergy.h │ ├── FrictionEnergy.h │ ├── GravityEnergy.h │ ├── InertialEnergy.h │ ├── NeoHookeanEnergy.h │ ├── NeoHookean_auto.h │ ├── SpringEnergy.h │ ├── device_uti.h │ ├── simulator.h │ ├── square_mesh.h │ └── uti.h └── src │ ├── BarrierEnergy.cu │ ├── FrictionEnergy.cu │ ├── GravityEnergy.cu │ ├── InertialEnergy.cu │ ├── NeoHookeanEnergy.cu │ ├── NeoHookean_auto.cu │ ├── SpringEnergy.cu │ ├── device_uti.cu │ ├── main.cpp │ ├── simulator.cu │ ├── square_mesh.cpp │ └── uti.cu ├── 7_self_contact ├── CMakeLists.txt ├── include │ ├── BarrierEnergy.h │ ├── FrictionEnergy.h │ ├── GravityEnergy.h │ ├── InertialEnergy.h │ ├── NeoHookeanEnergy.h │ ├── NeoHookean_auto.h │ ├── SparseMatrix.h │ ├── SpringEnergy.h │ ├── device_uti.h │ ├── distance.h │ ├── simulator.h │ ├── square_mesh.h │ └── uti.h └── src │ ├── BarrierEnergy.cu │ ├── FrictionEnergy.cu │ ├── GravityEnergy.cu │ ├── InertialEnergy.cu │ ├── NeoHookeanEnergy.cu │ ├── NeoHookean_auto.cu │ ├── SpringEnergy.cu │ ├── device_uti.cu │ ├── distance │ ├── CCD.cu │ ├── PointEdgeDistance.cu │ ├── PointLineDistance.cu │ └── PointPointDistance.cu │ ├── main.cpp │ ├── simulator.cu │ ├── square_mesh.cpp │ └── uti.cu ├── 8_self_friction ├── CMakeLists.txt ├── include │ ├── BarrierEnergy.h │ ├── FrictionEnergy.h │ ├── GravityEnergy.h │ ├── InertialEnergy.h │ ├── NeoHookeanEnergy.h │ ├── NeoHookean_auto.h │ ├── SparseMatrix.h │ ├── SpringEnergy.h │ ├── device_uti.h │ ├── distance.h │ ├── simulator.h │ ├── square_mesh.h │ └── uti.h └── src │ ├── BarrierEnergy.cu │ ├── FrictionEnergy.cu │ ├── GravityEnergy.cu │ ├── InertialEnergy.cu │ ├── NeoHookeanEnergy.cu │ ├── NeoHookean_auto.cu │ ├── SpringEnergy.cu │ ├── device_uti.cu │ ├── distance │ ├── CCD.cu │ ├── 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