├── .clang-format ├── .editorconfig ├── .github └── workflows │ ├── build-wheels.yml │ ├── cmake.yml │ └── xmake.yml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── CMakePresets.json ├── LICENSE ├── README.md ├── apps ├── CMakeLists.txt ├── app │ ├── CMakeLists.txt │ ├── asset_dir.cpp │ ├── asset_dir.h │ ├── details │ │ └── require_log.inl │ ├── require_log.cpp │ ├── require_log.h │ ├── test_common.h │ ├── test_utils.cpp │ ├── test_utils.h │ └── xmake.lua ├── benchmarks │ ├── CMakeLists.txt │ ├── basic │ │ ├── CMakeLists.txt │ │ └── basic.cpp │ └── main.cpp ├── examples │ ├── CMakeLists.txt │ ├── hello_affine_body │ │ ├── CMakeLists.txt │ │ ├── main.cpp │ │ └── xmake.lua │ ├── hello_simplicial_complex │ │ ├── CMakeLists.txt │ │ ├── main.cpp │ │ └── xmake.lua │ ├── wrecking_ball │ │ ├── CMakeLists.txt │ │ ├── main.cpp │ │ ├── wrecking_ball.json │ │ └── xmake.lua │ └── xmake.lua ├── tests │ ├── CMakeLists.txt │ ├── backends │ │ ├── CMakeLists.txt │ │ ├── cuda │ │ │ ├── CMakeLists.txt │ │ │ ├── hello_muda.cu │ │ │ ├── lbvh.cu │ │ │ ├── stackless_bvh.cu │ │ │ └── xmake.lua │ │ └── xmake.lua │ ├── common │ │ ├── CMakeLists.txt │ │ ├── range.cpp │ │ ├── run_length_encode.cpp │ │ └── xmake.lua │ ├── core │ │ ├── CMakeLists.txt │ │ ├── attribute_collection.cpp │ │ ├── constitution.cpp │ │ ├── contact_model.cpp │ │ ├── engine.cpp │ │ ├── geometry_atlas.cpp │ │ ├── gltf_io.cpp │ │ ├── object.cpp │ │ ├── scene.cpp │ │ ├── scene_factory.cpp │ │ ├── scene_io.cpp │ │ ├── serializer.cpp │ │ ├── simplicial_complex.cpp │ │ ├── stack_trace.cpp │ │ ├── subscene_model.cpp │ │ └── xmake.lua │ ├── geometry │ │ ├── CMakeLists.txt │ │ ├── affine_body_quantity.cpp │ │ ├── apply_region.cpp │ │ ├── compute_d_hat.cpp │ │ ├── compute_instance_volume.cpp │ │ ├── extract_surface.cpp │ │ ├── factory.cpp │ │ ├── flip_inward_triangles.cpp │ │ ├── instancing.cpp │ │ ├── label_graph_color.cpp │ │ ├── label_surface.cpp │ │ ├── mesh_io.cpp │ │ ├── optimal_transform.cpp │ │ ├── points_from_volume.cpp │ │ ├── spreadsheet.cpp │ │ ├── urdf_io.cpp │ │ ├── write_mesh.cpp │ │ └── xmake.lua │ ├── gui │ │ ├── CMakeLists.txt │ │ └── hello_bgfx.cpp │ ├── main.cpp │ ├── sanity_check │ │ ├── CMakeLists.txt │ │ ├── half_plane_vertex_distance_check.cpp │ │ ├── simplicial_surface_distance_check.cpp │ │ ├── simplicial_surface_intersection_check.cpp │ │ └── xmake.lua │ ├── sim_case │ │ ├── 0_abd_gravity.cpp │ │ ├── 10_abd_ground_contact.cpp │ │ ├── 11_abd_ramp_sliding.cpp │ │ ├── 12_abd_self_ground_contact.cpp │ │ ├── 13_fem_3d_gravity.cpp │ │ ├── 14_fem_3d_ground_contact.cpp │ │ ├── 15_fem_3d_fixed_point.cpp │ │ ├── 16_fem_3d_scaling.cpp │ │ ├── 17_fem_multi_constituion.cpp │ │ ├── 18_abd_fem_contact.cpp │ │ ├── 19_shell_fixed_point.cpp │ │ ├── 1_abd_contact_pt.cpp │ │ ├── 20_spring_fixed_point.cpp │ │ ├── 21_particle_ground.cpp │ │ ├── 22_fem_animated_vertices.cpp │ │ ├── 23_kirchhoff_rod_bending.cpp │ │ ├── 24_abd_animated_translation.cpp │ │ ├── 25_abd_animated_rotation.cpp │ │ ├── 26_abd_ramp_ground.cpp │ │ ├── 27_particle_abd.cpp │ │ ├── 28_fem_periodically_pressed_tet.cpp │ │ ├── 29_abd_fem_recover.cpp │ │ ├── 2_abd_contact_ee.cpp │ │ ├── 30_fem_animiator_substep.cpp │ │ ├── 31_contact_mask.cpp │ │ ├── 32_different_gravity.cpp │ │ ├── 33_discrete_shell_bending.cpp │ │ ├── 34_particle_rods.cpp │ │ ├── 35_abd_surf_cube_pile.cpp │ │ ├── 36_no_surf_but_contact_on.cpp │ │ ├── 37_abd_revolute_joint.cpp │ │ ├── 38_global_vertex_offset.cpp │ │ ├── 39_soft_vertex_stitch.cpp │ │ ├── 3_abd_contact_pe.cpp │ │ ├── 40_abd_ignore_self_intersection.cpp │ │ ├── 41_abd_fem_mesh_d_hat.cpp │ │ ├── 42_abd_fem_subscene.cpp │ │ ├── 43_abd_fem_state_access.cpp │ │ ├── 44_affine_body_external_body_force.cpp │ │ ├── 4_abd_contact_pp.cpp │ │ ├── 5_abd_contact_ee_parallel.cpp │ │ ├── 6_abd_cube_pile.cpp │ │ ├── 7_abd_tet_pile.cpp │ │ ├── 8_abd_multi_contact_model.cpp │ │ ├── 9_abd_multi_constitution.cpp │ │ ├── CMakeLists.txt │ │ └── xmake.lua │ ├── usd │ │ ├── CMakeLists.txt │ │ └── stage_prim_test.cpp │ └── xmake.lua └── xmake.lua ├── artifacts └── docker │ ├── dev.dockerfile │ └── installers │ ├── install_cmake.sh │ └── install_vcpkg.sh ├── assets ├── scenes │ └── README.md └── sim_data │ ├── README.md │ ├── linemesh │ └── circle.obj │ ├── tetmesh │ ├── ball.msh │ ├── bunny0.msh │ ├── cube.msh │ ├── link.msh │ └── tet.msh │ └── trimesh │ ├── cube.obj │ └── cube.ply ├── cmake └── uipc_utils.cmake ├── conda ├── README.md ├── env-cu124.yaml └── env.yaml ├── docs ├── build_install │ ├── build_docs.md │ ├── index.md │ ├── linux.md │ ├── linux_docker.md │ ├── windows.md │ └── xmake.md ├── development │ ├── backend.md │ ├── backend_cuda │ │ └── index.md │ ├── img │ │ ├── RMR-Backend.drawio │ │ ├── RMR.drawio │ │ └── RMR.drawio.svg │ └── index.md ├── gallery.md ├── index.md ├── javascripts │ └── mathjax.js ├── media │ ├── coordinates.png │ ├── teaser.png │ ├── tetrahedron_orient.png │ └── triangle_orient.png ├── misc │ └── 3rd_libs.md ├── nav.md ├── overrides │ └── partials │ │ └── copyright.html ├── specification │ ├── constitution_uid.md │ ├── constitutions │ │ ├── affine_body.md │ │ ├── affine_body_external_force.md │ │ ├── arap.md │ │ ├── hookean_spring.md │ │ ├── index.md │ │ ├── neo_hookean_shell.md │ │ ├── particle.md │ │ ├── soft_transform_constraint.md │ │ └── stable_neo_hookean.md │ ├── implicit_geometries │ │ ├── half_plane.md │ │ └── index.md │ ├── implicit_geometry_uid.md │ └── index.md ├── stylesheets │ └── doxide.css └── tutorial │ ├── animation.md │ ├── concepts.md │ ├── geometry.md │ ├── index.md │ └── media │ ├── .gitignore │ ├── concepts.drawio │ ├── concepts.drawio.svg │ ├── concepts_code.svg │ ├── falling_tet.mp4 │ ├── falling_tet.png │ ├── periodically_pressed_tet.png │ ├── periodically_pressed_tetrahedron.mp4 │ ├── spreadsheet_csv.png │ ├── spreadsheet_json.png │ ├── walking_cube.mp4 │ └── walking_cube.png ├── external └── CMakeLists.txt ├── include ├── uipc │ ├── backend │ │ ├── buffer.h │ │ ├── buffer_view.h │ │ ├── engine_create_info.h │ │ ├── macro.h │ │ ├── module_init_info.h │ │ ├── type_define.h │ │ └── visitors │ │ │ ├── animator_visitor.h │ │ │ ├── contact_tabular_visitor.h │ │ │ ├── diff_sim_visitor.h │ │ │ ├── geometry_visitor.h │ │ │ ├── sanity_check_message_visitor.h │ │ │ ├── scene_visitor.h │ │ │ ├── subscene_tabular_visitor.h │ │ │ └── world_visitor.h │ ├── builtin │ │ ├── attribute_name.h │ │ ├── constitution_type.h │ │ ├── constitution_uid_auto_register.h │ │ ├── constitution_uid_collection.h │ │ ├── details │ │ │ ├── attribute_name.h │ │ │ └── backend_name.h │ │ ├── factory_keyword.h │ │ ├── geometry_type.h │ │ ├── implicit_geometry_uid_auto_register.h │ │ ├── implicit_geometry_uid_collection.h │ │ ├── uid_info.h │ │ └── uid_register.h │ ├── common │ │ ├── abort.h │ │ ├── algorithm │ │ │ └── run_length_encode.h │ │ ├── allocator.h │ │ ├── buffer_info.h │ │ ├── config.h │ │ ├── const_string_map.h │ │ ├── demangle.h │ │ ├── details │ │ │ ├── eigen_json.inl │ │ │ └── smart_pointer.inl │ │ ├── dllexport.h │ │ ├── enumerate.h │ │ ├── exception.h │ │ ├── fmt_eigen.h │ │ ├── format.h │ │ ├── future.h │ │ ├── json.h │ │ ├── json_eigen.h │ │ ├── list.h │ │ ├── log.h │ │ ├── log_pattern_guard.h │ │ ├── logger.h │ │ ├── macro.h │ │ ├── magic_enum.h │ │ ├── map.h │ │ ├── range.h │ │ ├── readable_type_name.h │ │ ├── resident_thread.h │ │ ├── set.h │ │ ├── smart_pointer.h │ │ ├── span.h │ │ ├── span_as_eigen.h │ │ ├── stack.h │ │ ├── string.h │ │ ├── timer.h │ │ ├── type_define.h │ │ ├── type_traits.h │ │ ├── uipc.h │ │ ├── unit.h │ │ ├── unordered_map.h │ │ ├── unordered_set.h │ │ ├── vector.h │ │ └── zip.h │ ├── constitution │ │ ├── affine_body_constitution.h │ │ ├── affine_body_driving_revolute_joint.h │ │ ├── affine_body_external_force.h │ │ ├── affine_body_revolute_joint.h │ │ ├── arap.h │ │ ├── baraff_witkin_shell.h │ │ ├── constitution.h │ │ ├── constraint.h │ │ ├── conversion.h │ │ ├── discrete_shell_bending.h │ │ ├── elastic_moduli.h │ │ ├── empty.h │ │ ├── finite_element_constitution.h │ │ ├── finite_element_extra_constitution.h │ │ ├── hookean_spring.h │ │ ├── inter_affine_body_constitution.h │ │ ├── inter_primitive_constitution.h │ │ ├── kirchhoff_rod_bending.h │ │ ├── neo_hookean_shell.h │ │ ├── particle.h │ │ ├── soft_position_constraint.h │ │ ├── soft_transform_constraint.h │ │ ├── soft_vertex_stitch.h │ │ ├── stable_neo_hookean.h │ │ └── strain_limiting_baraff_witkin.h │ ├── core.h │ ├── core │ │ ├── affine_body_state_accessor_feature.h │ │ ├── animation.h │ │ ├── animator.h │ │ ├── constitution_tabular.h │ │ ├── contact_element.h │ │ ├── contact_model.h │ │ ├── contact_model_collection.h │ │ ├── contact_system_feature.h │ │ ├── contact_tabular.h │ │ ├── details │ │ │ └── object.inl │ │ ├── diff_sim.h │ │ ├── engine.h │ │ ├── engine_status.h │ │ ├── feature.h │ │ ├── feature_collection.h │ │ ├── finite_element_state_accessor_feature.h │ │ ├── i_engine.h │ │ ├── i_sanity_checker.h │ │ ├── internal │ │ │ ├── engine.h │ │ │ ├── scene.h │ │ │ └── world.h │ │ ├── object.h │ │ ├── object_collection.h │ │ ├── object_snapshot.h │ │ ├── sanity_checker.h │ │ ├── scene.h │ │ ├── scene_archieve.h │ │ ├── scene_factory.h │ │ ├── scene_snapshot.h │ │ ├── subscene_element.h │ │ ├── subscene_model.h │ │ ├── subscene_model_collection.h │ │ ├── subscene_tabular.h │ │ └── world.h │ ├── diff_sim │ │ ├── adjoint_method_feature.h │ │ ├── enable_grad_feature.h │ │ ├── parameter_collection.h │ │ └── sparse_coo_view.h │ ├── geometry.h │ ├── geometry │ │ ├── abstract_simplicial_complex.h │ │ ├── attribute.h │ │ ├── attribute_collection.h │ │ ├── attribute_collection_commit.h │ │ ├── attribute_collection_factory.h │ │ ├── attribute_copy.h │ │ ├── attribute_debug_info.h │ │ ├── attribute_factory.h │ │ ├── attribute_friend.h │ │ ├── attribute_slot.h │ │ ├── details │ │ │ ├── attribute.inl │ │ │ ├── attribute_collection.inl │ │ │ ├── attribute_copy.inl │ │ │ ├── attribute_export_types.inl │ │ │ ├── attribute_slot.inl │ │ │ ├── geometry.inl │ │ │ ├── geometry_collection.inl │ │ │ ├── geometry_export_types.inl │ │ │ ├── simplex_slot.inl │ │ │ ├── simplices.inl │ │ │ └── simplicial_complex.inl │ │ ├── geometry.h │ │ ├── geometry_atlas.h │ │ ├── geometry_collection.h │ │ ├── geometry_collection_commit.h │ │ ├── geometry_commit.h │ │ ├── geometry_factory.h │ │ ├── geometry_friend.h │ │ ├── geometry_slot.h │ │ ├── implicit_geometry.h │ │ ├── implicit_geometry_slot.h │ │ ├── shared_attribute_context.h │ │ ├── simplicial_complex.h │ │ ├── simplicial_complex_attributes.h │ │ ├── simplicial_complex_slot.h │ │ ├── utils.h │ │ └── utils │ │ │ ├── affine_body │ │ │ ├── compute_body_force.h │ │ │ └── compute_dyadic_mass.h │ │ │ ├── apply_region.h │ │ │ ├── apply_transform.h │ │ │ ├── bvh.h │ │ │ ├── closure.h │ │ │ ├── compute_instance_volume.h │ │ │ ├── compute_mesh_d_hat.h │ │ │ ├── compute_vertex_volume.h │ │ │ ├── constitution_type.h │ │ │ ├── distance.h │ │ │ ├── extract_surface.h │ │ │ ├── factory.h │ │ │ ├── flip_inward_triangles.h │ │ │ ├── intersection.h │ │ │ ├── is_trimesh_closed.h │ │ │ ├── label_connected_vertices.h │ │ │ ├── label_graph_color.h │ │ │ ├── label_region.h │ │ │ ├── label_surface.h │ │ │ ├── label_triangle_orient.h │ │ │ ├── merge.h │ │ │ ├── mesh_partition.h │ │ │ ├── octree.h │ │ │ ├── optimal_transform.h │ │ │ ├── points_from_volume.h │ │ │ └── simplex_utils.h │ ├── io.h │ ├── io │ │ ├── attribute_io.h │ │ ├── gltf_io.h │ │ ├── scene_io.h │ │ ├── simplicial_complex_io.h │ │ ├── spread_sheet_io.h │ │ └── urdf_io.h │ ├── uipc.h │ ├── usd │ │ ├── dllexport.h │ │ ├── prim.h │ │ ├── stage.h │ │ └── stage_io.h │ └── vdb │ │ ├── dllexport.h │ │ └── points_from_volume.h └── uipc_gui │ └── common │ └── platform_handle.h ├── mkdocs-with-api.yaml ├── mkdocs.yaml ├── output └── README.md ├── python ├── .gitignore ├── LICENSE ├── README.md ├── pyproject.toml ├── setup.py ├── src │ ├── .gitignore │ └── uipc │ │ ├── __init__.py │ │ ├── adapter │ │ ├── __init__.py │ │ ├── torch │ │ │ └── __init__.py │ │ └── warp │ │ │ └── __init__.py │ │ ├── backend.py │ │ ├── builtin.py │ │ ├── constitution.py │ │ ├── core.py │ │ ├── dev │ │ ├── __init__.py │ │ └── uid_info.py │ │ ├── diff_sim.py │ │ ├── geometry.py │ │ ├── gui.py │ │ ├── stats.py │ │ └── unit.py ├── tests │ ├── .gitignore │ ├── asset.py │ ├── geometry │ │ ├── test_implicit.py │ │ └── test_simplicial_complex.py │ ├── test_abd_fem.py │ ├── test_affine_body.py │ ├── test_affine_body_external_force.py │ ├── test_attrib.py │ ├── test_fem_link.py │ ├── test_finite_element.py │ ├── test_particle_ground.py │ ├── test_scene.py │ ├── test_tetwild.py │ ├── test_transform.py │ └── test_typing.py ├── uipc_info.py └── uv.lock ├── scripts ├── .gitignore ├── after_build_pyuipc.py ├── build_docs.py ├── detect_0kb_files.py ├── encode_files.py ├── gen_vcpkg_json.py ├── graphviz_sim_systems.py ├── graphviz_top_sim_systems.py ├── optional_import │ ├── __init__.py │ ├── enabled_modules.py │ ├── try_import_torch.py │ └── try_import_usd.py ├── project_dir.py ├── symbol_calculation │ ├── abd_ortho_potential.ipynb │ ├── affine_body_quantity.ipynb │ ├── affine_body_revolute_joint.ipynb │ ├── codim_ipc_contact.ipynb │ ├── discrete_shell_bending.ipynb │ ├── hookean_spring_1d.ipynb │ ├── ipc_contact.ipynb │ ├── kirchhoff_rod_bending.ipynb │ ├── shell_neo_hookean_2d.ipynb │ ├── simplified_stable_neo_hookean_3d.ipynb │ ├── smooth_friction.ipynb │ └── vertex_half_plane_distance.ipynb ├── test_user_experience.py └── test_wheel.py ├── src ├── CMakeLists.txt ├── backends │ ├── CMakeLists.txt │ ├── common │ │ ├── backend_path_tool.cpp │ │ ├── backend_path_tool.h │ │ ├── details │ │ │ ├── sim_action.inl │ │ │ ├── sim_action_collection.inl │ │ │ ├── sim_engine.inl │ │ │ ├── sim_system.inl │ │ │ ├── sim_system_collection.inl │ │ │ └── sim_system_slot.inl │ │ ├── i_sim_system.cpp │ │ ├── i_sim_system.h │ │ ├── module.cpp │ │ ├── module.h │ │ ├── sim_action.h │ │ ├── sim_action_collection.h │ │ ├── sim_engine.cpp │ │ ├── sim_engine.h │ │ ├── sim_system.cpp │ │ ├── sim_system.h │ │ ├── sim_system_auto_register.cpp │ │ ├── sim_system_auto_register.h │ │ ├── sim_system_collection.cpp │ │ ├── sim_system_collection.h │ │ └── sim_system_slot.h │ ├── cuda │ │ ├── CMakeLists.txt │ │ ├── affine_body │ │ │ ├── abd_diag_preconditioner.cu │ │ │ ├── abd_dytopo_effect_receiver.cu │ │ │ ├── abd_dytopo_effect_receiver.h │ │ │ ├── abd_energy.cu │ │ │ ├── abd_energy.h │ │ │ ├── abd_jacobi_matrix.cu │ │ │ ├── abd_jacobi_matrix.h │ │ │ ├── abd_line_search_reporter.cu │ │ │ ├── abd_line_search_reporter.h │ │ │ ├── abd_line_search_subreporter.cu │ │ │ ├── abd_line_search_subreporter.h │ │ │ ├── abd_linear_subsystem.cu │ │ │ ├── abd_linear_subsystem.h │ │ │ ├── abd_linear_subsystem_reporter.cu │ │ │ ├── abd_linear_subsystem_reporter.h │ │ │ ├── abd_time_integrator.cu │ │ │ ├── abd_time_integrator.h │ │ │ ├── abd_tolerance_checker.cu │ │ │ ├── affine_body_animator.cu │ │ │ ├── affine_body_animator.h │ │ │ ├── affine_body_body_reporter.cu │ │ │ ├── affine_body_body_reporter.h │ │ │ ├── affine_body_constitution.cu │ │ │ ├── affine_body_constitution.h │ │ │ ├── affine_body_constraint.cu │ │ │ ├── affine_body_constraint.h │ │ │ ├── affine_body_dynamics.cu │ │ │ ├── affine_body_dynamics.h │ │ │ ├── affine_body_external_body_force.cu │ │ │ ├── affine_body_external_force_manager.cu │ │ │ ├── affine_body_external_force_manager.h │ │ │ ├── affine_body_external_force_reporter.cu │ │ │ ├── affine_body_external_force_reporter.h │ │ │ ├── affine_body_extra_constitution.cu │ │ │ ├── affine_body_extra_constitution.h │ │ │ ├── affine_body_kinetic.cu │ │ │ ├── affine_body_kinetic.h │ │ │ ├── affine_body_state_accessor.cu │ │ │ ├── affine_body_state_accessor_feature.cu │ │ │ ├── affine_body_state_accessor_feature.h │ │ │ ├── affine_body_surface_reporter.cu │ │ │ ├── affine_body_surface_reporter.h │ │ │ ├── affine_body_vertex_reporter.cu │ │ │ ├── affine_body_vertex_reporter.h │ │ │ ├── bdf │ │ │ │ ├── abd_bdf1_time_integrator.cu │ │ │ │ └── affine_body_bdf1_kinetic.cu │ │ │ ├── constitutions │ │ │ │ ├── affine_body_revolute_joint.cu │ │ │ │ ├── affine_body_revolute_joint_function.h │ │ │ │ ├── arap.cu │ │ │ │ ├── arap_function.h │ │ │ │ ├── ortho_potential.cu │ │ │ │ ├── ortho_potential_function.h │ │ │ │ └── sym │ │ │ │ │ ├── affine_body_revolute_joint.inl │ │ │ │ │ └── ortho_potential.inl │ │ │ ├── constraints │ │ │ │ ├── affine_body_external_body_force_constraint.cu │ │ │ │ ├── affine_body_external_body_force_constraint.h │ │ │ │ └── soft_transform_constraint.cu │ │ │ ├── details │ │ │ │ ├── abd_jacobi_matrix.inl │ │ │ │ ├── affine_body_animator.inl │ │ │ │ ├── affine_body_dynamics.inl │ │ │ │ ├── affine_body_extra_constitution.inl │ │ │ │ ├── inter_affine_body_animator.inl │ │ │ │ └── inter_affine_body_constitution_manager.inl │ │ │ ├── inter_affine_body_animator.cu │ │ │ ├── inter_affine_body_animator.h │ │ │ ├── inter_affine_body_constitution.cu │ │ │ ├── inter_affine_body_constitution.h │ │ │ ├── inter_affine_body_constitution_manager.cu │ │ │ ├── inter_affine_body_constitution_manager.h │ │ │ ├── inter_affine_body_constraint.cu │ │ │ ├── inter_affine_body_constraint.h │ │ │ ├── type_define.h │ │ │ ├── utils.cu │ │ │ └── utils.h │ │ ├── algorithm │ │ │ ├── details │ │ │ │ ├── fast_segmental_reduce.inl │ │ │ │ └── matrix_converter.inl │ │ │ ├── fast_segmental_reduce.h │ │ │ ├── geometry_instance_flattener.h │ │ │ ├── givens.hpp │ │ │ ├── matrix_converter.h │ │ │ └── qr_svd.hpp │ │ ├── animator │ │ │ ├── animator.cu │ │ │ ├── animator.h │ │ │ ├── global_animator.cu │ │ │ ├── global_animator.h │ │ │ └── utils.h │ │ ├── collision_detection │ │ │ ├── aabb.h │ │ │ ├── atomic_counting_lbvh.cu │ │ │ ├── atomic_counting_lbvh.h │ │ │ ├── details │ │ │ │ ├── atomic_counting_lbvh.inl │ │ │ │ ├── linear_bvh.inl │ │ │ │ └── stackless_bvh.inl │ │ │ ├── filters │ │ │ │ ├── easy_vertex_half_plane_trajectory_filter.cu │ │ │ │ ├── easy_vertex_half_plane_trajectory_filter.h │ │ │ │ ├── lbvh_simplex_trajectory_filter.cu │ │ │ │ ├── lbvh_simplex_trajectory_filter.h │ │ │ │ ├── stackless_bvh_simplex_trajectory_filter.cu │ │ │ │ └── stackless_bvh_simplex_trajectory_filter.h │ │ │ ├── global_trajectory_filter.cu │ │ │ ├── global_trajectory_filter.h │ │ │ ├── linear_bvh.h │ │ │ ├── simplex_trajectory_filter.cu │ │ │ ├── simplex_trajectory_filter.h │ │ │ ├── stackless_bvh.h │ │ │ ├── trajectory_filter.cu │ │ │ ├── trajectory_filter.h │ │ │ ├── vertex_half_plane_trajectory_filter.cu │ │ │ └── vertex_half_plane_trajectory_filter.h │ │ ├── contact_system │ │ │ ├── contact_coeff.h │ │ │ ├── contact_exporter.cu │ │ │ ├── contact_exporter.h │ │ │ ├── contact_exporter_manager.cu │ │ │ ├── contact_exporter_manager.h │ │ │ ├── contact_models │ │ │ │ ├── analytical_barrier_pFpx │ │ │ │ │ ├── analytical_barrier_contact.h │ │ │ │ │ ├── details │ │ │ │ │ │ ├── pFpx_EE_contact.inl │ │ │ │ │ │ ├── pFpx_PE_contact.inl │ │ │ │ │ │ ├── pFpx_PP_contact.inl │ │ │ │ │ │ ├── pFpx_PT_contact.inl │ │ │ │ │ │ ├── pFpx_parallel_EE_contact.inl │ │ │ │ │ │ ├── pFpx_parallel_PE_contact.inl │ │ │ │ │ │ └── pFpx_parallel_PP_contact.inl │ │ │ │ │ ├── pFpx_EE_contact.h │ │ │ │ │ ├── pFpx_PE_contact.h │ │ │ │ │ ├── pFpx_PP_contact.h │ │ │ │ │ ├── pFpx_PT_contact.h │ │ │ │ │ ├── pFpx_parallel_EE_contact.h │ │ │ │ │ ├── pFpx_parallel_PE_contact.h │ │ │ │ │ └── pFpx_parallel_PP_contact.h │ │ │ │ ├── codim_ipc_contact_function.h │ │ │ │ ├── codim_ipc_simplex_frictional_contact_function.h │ │ │ │ ├── codim_ipc_simplex_normal_contact_function.h │ │ │ │ ├── ipc_simplex_frictional_contact.cu │ │ │ │ ├── ipc_simplex_frictional_contact_function.h │ │ │ │ ├── ipc_simplex_normal_contact.cu │ │ │ │ ├── ipc_vertex_half_plane_contact_function.h │ │ │ │ ├── ipc_vertex_half_plane_frictional_contact.cu │ │ │ │ ├── ipc_vertex_half_plane_normal_contact.cu │ │ │ │ └── sym │ │ │ │ │ ├── codim_ipc_contact.inl │ │ │ │ │ └── vertex_half_plane_distance.inl │ │ │ ├── contact_reporter.cu │ │ │ ├── contact_reporter.h │ │ │ ├── contact_system_feature.cu │ │ │ ├── contact_system_feature.h │ │ │ ├── global_contact_manager.cu │ │ │ ├── global_contact_manager.h │ │ │ ├── simplex_frictional_contact.cu │ │ │ ├── simplex_frictional_contact.h │ │ │ ├── simplex_normal_contact.cu │ │ │ ├── simplex_normal_contact.h │ │ │ ├── vertex_half_plane_frictional_contact.cu │ │ │ ├── vertex_half_plane_frictional_contact.h │ │ │ ├── vertex_half_plane_normal_contact.cu │ │ │ └── vertex_half_plane_normal_contact.h │ │ ├── coupling_system │ │ │ ├── abd_fem_dytopo_effect_receiver.cu │ │ │ ├── abd_fem_dytopo_effect_receiver.h │ │ │ ├── abd_fem_linear_subsystem.cu │ │ │ ├── fem_abd_dytopo_effect_receiver.cu │ │ │ └── fem_abd_dytopo_effect_receiver.h │ │ ├── cuda_device │ │ │ ├── bit_operation.h │ │ │ ├── builtin.h │ │ │ └── detail │ │ │ │ └── bit_operation.inl │ │ ├── diff_sim │ │ │ ├── diff_dof_reporter.cu │ │ │ ├── diff_dof_reporter.h │ │ │ ├── diff_parm_reporter.cu │ │ │ ├── diff_parm_reporter.h │ │ │ ├── diff_sim_subsystem.cu │ │ │ ├── diff_sim_subsystem.h │ │ │ ├── global_diff_sim_manager.cu │ │ │ └── global_diff_sim_manager.h │ │ ├── dytopo_effect_system │ │ │ ├── dytopo_classify_info.cu │ │ │ ├── dytopo_classify_info.h │ │ │ ├── dytopo_effect_line_search_reporter.cu │ │ │ ├── dytopo_effect_line_search_reporter.h │ │ │ ├── dytopo_effect_receiver.cu │ │ │ ├── dytopo_effect_receiver.h │ │ │ ├── dytopo_effect_reporter.cu │ │ │ ├── dytopo_effect_reporter.h │ │ │ ├── global_dytopo_effect_manager.cu │ │ │ └── global_dytopo_effect_manager.h │ │ ├── engine │ │ │ ├── sim_engine.cu │ │ │ ├── sim_engine_do_advance.cu │ │ │ ├── sim_engine_do_backward.cu │ │ │ ├── sim_engine_do_init.cu │ │ │ ├── sim_engine_do_retrieve.cu │ │ │ └── sim_engine_do_sync.cu │ │ ├── entrance.cpp │ │ ├── external_force │ │ │ ├── external_force_reporter.cu │ │ │ ├── external_force_reporter.h │ │ │ ├── global_external_force_manager.cu │ │ │ └── global_external_force_manager.h │ │ ├── finite_element │ │ │ ├── bdf │ │ │ │ ├── fem_bdf1_time_integrator.cu │ │ │ │ └── finite_element_bdf1_kinetic.cu │ │ │ ├── codim_0d_constitution.cu │ │ │ ├── codim_0d_constitution.h │ │ │ ├── codim_0d_constitution_diff_parm_reporter.cu │ │ │ ├── codim_0d_constitution_diff_parm_reporter.h │ │ │ ├── codim_1d_constitution.cu │ │ │ ├── codim_1d_constitution.h │ │ │ ├── codim_1d_constitution_diff_parm_reporter.cu │ │ │ ├── codim_1d_constitution_diff_parm_reporter.h │ │ │ ├── codim_2d_constitution.cu │ │ │ ├── codim_2d_constitution.h │ │ │ ├── codim_2d_constitution_diff_parm_reporter.cu │ │ │ ├── codim_2d_constitution_diff_parm_reporter.h │ │ │ ├── constitutions │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── arap_3d.cu │ │ │ │ ├── arap_function.h │ │ │ │ ├── detail │ │ │ │ │ └── stable_neo_hookean_3d.inl │ │ │ │ ├── discrete_shell_bending.cu │ │ │ │ ├── discrete_shell_bending_function.h │ │ │ │ ├── empty_0d.cu │ │ │ │ ├── empty_1d.cu │ │ │ │ ├── empty_2d.cu │ │ │ │ ├── empty_3d.cu │ │ │ │ ├── hookean_spring_1d.cu │ │ │ │ ├── hookean_spring_1d_function.h │ │ │ │ ├── kirchhoff_rod_bending.cu │ │ │ │ ├── kirchhoff_rod_bending_function.h │ │ │ │ ├── neo_hookean_shell_2d.cu │ │ │ │ ├── neo_hookean_shell_2d_function.h │ │ │ │ ├── particle_0d.cu │ │ │ │ ├── stable_neo_hookean_3d.cu │ │ │ │ ├── stable_neo_hookean_3d_function.h │ │ │ │ ├── strain_limiting_baraff_witkin_shell_2d.cu │ │ │ │ ├── strain_limiting_baraff_witkin_shell_2d.h │ │ │ │ └── sym │ │ │ │ │ ├── discrete_shell_bending.inl │ │ │ │ │ ├── hookean_spring_1d.inl │ │ │ │ │ ├── kirchhoff_rod_bending.inl │ │ │ │ │ ├── shell_neo_hookean_2d.inl │ │ │ │ │ └── simplified_stable_neo_hookean_3d.inl │ │ │ ├── constraints │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── soft_position_constraint.cu │ │ │ ├── details │ │ │ │ ├── finite_element_animator.inl │ │ │ │ ├── finite_element_extra_constitution.inl │ │ │ │ └── finite_element_method.inl │ │ │ ├── fem_3d_constitution.cu │ │ │ ├── fem_3d_constitution.h │ │ │ ├── fem_3d_constitution_diff_parm_reporter.cu │ │ │ ├── fem_3d_constitution_diff_parm_reporter.h │ │ │ ├── fem_diag_preconditioner.cu │ │ │ ├── fem_dytopo_effect_receiver.cu │ │ │ ├── fem_dytopo_effect_receiver.h │ │ │ ├── fem_line_search_reporter.cu │ │ │ ├── fem_line_search_reporter.h │ │ │ ├── fem_linear_subsystem.cu │ │ │ ├── fem_linear_subsystem.h │ │ │ ├── fem_time_integrator.cu │ │ │ ├── fem_time_integrator.h │ │ │ ├── fem_utils.cu │ │ │ ├── fem_utils.h │ │ │ ├── finite_element_animator.cu │ │ │ ├── finite_element_animator.h │ │ │ ├── finite_element_body_reporter.cu │ │ │ ├── finite_element_body_reporter.h │ │ │ ├── finite_element_constitution.cu │ │ │ ├── finite_element_constitution.h │ │ │ ├── finite_element_constitution_diff_parm_reporter.cu │ │ │ ├── finite_element_constitution_diff_parm_reporter.h │ │ │ ├── finite_element_constraint.cu │ │ │ ├── finite_element_constraint.h │ │ │ ├── finite_element_diff_dof_reporter.cu │ │ │ ├── finite_element_diff_dof_reporter.h │ │ │ ├── finite_element_diff_parm_reporter.cu │ │ │ ├── finite_element_diff_parm_reporter.h │ │ │ ├── finite_element_energy_producer.cu │ │ │ ├── finite_element_energy_producer.h │ │ │ ├── finite_element_extra_constitution.cu │ │ │ ├── finite_element_extra_constitution.h │ │ │ ├── finite_element_extra_constitution_diff_parm_reporter.cu │ │ │ ├── finite_element_extra_constitution_diff_parm_reporter.h │ │ │ ├── finite_element_kinetic.cu │ │ │ ├── finite_element_kinetic.h │ │ │ ├── finite_element_method.cu │ │ │ ├── finite_element_method.h │ │ │ ├── finite_element_state_accessor.cu │ │ │ ├── finite_element_state_accessor_feature.cu │ │ │ ├── finite_element_state_accessor_feature.h │ │ │ ├── finite_element_surface_reporter.cu │ │ │ ├── finite_element_surface_reporter.h │ │ │ ├── finite_element_vertex_reporter.cu │ │ │ ├── finite_element_vertex_reporter.h │ │ │ ├── matrix_utils.cu │ │ │ ├── matrix_utils.h │ │ │ ├── shell_utils.cu │ │ │ └── shell_utils.h │ │ ├── global_geometry │ │ │ ├── body_reporter.cu │ │ │ ├── body_reporter.h │ │ │ ├── details │ │ │ │ ├── global_body_manager.inl │ │ │ │ └── global_vertex_manager.inl │ │ │ ├── global_body_manager.cu │ │ │ ├── global_body_manager.h │ │ │ ├── global_simplicial_surface_manager.cu │ │ │ ├── global_simplicial_surface_manager.h │ │ │ ├── global_vertex_manager.cu │ │ │ ├── global_vertex_manager.h │ │ │ ├── simplicial_surface_reporter.cu │ │ │ ├── simplicial_surface_reporter.h │ │ │ ├── vertex_reporter.cu │ │ │ └── vertex_reporter.h │ │ ├── implicit_geometry │ │ │ ├── details │ │ │ │ └── half_plane.inl │ │ │ ├── half_plane.cu │ │ │ ├── half_plane.h │ │ │ ├── half_plane_body_reporter.cu │ │ │ ├── half_plane_body_reporter.h │ │ │ ├── half_plane_vertex_reporter.cu │ │ │ └── half_plane_vertex_reporter.h │ │ ├── inter_primitive_effect_system │ │ │ ├── constitutions │ │ │ │ └── soft_vertex_stitch.cu │ │ │ ├── details │ │ │ │ └── inter_primitive_constitution_manager.inl │ │ │ ├── inter_primitive_constitution.cu │ │ │ ├── inter_primitive_constitution.h │ │ │ ├── inter_primitive_constitution_manager.cu │ │ │ └── inter_primitive_constitution_manager.h │ │ ├── kernel_cout.cu │ │ ├── kernel_cout.h │ │ ├── line_search │ │ │ ├── line_search_reporter.cu │ │ │ ├── line_search_reporter.h │ │ │ ├── line_searcher.cu │ │ │ └── line_searcher.h │ │ ├── linear_system │ │ │ ├── current_frame_diff_dof_reporter.cu │ │ │ ├── diag_linear_subsystem.cu │ │ │ ├── diag_linear_subsystem.h │ │ │ ├── global_linear_system.cu │ │ │ ├── global_linear_system.h │ │ │ ├── global_preconditioner.cu │ │ │ ├── global_preconditioner.h │ │ │ ├── iterative_solver.cu │ │ │ ├── iterative_solver.h │ │ │ ├── linear_pcg.cu │ │ │ ├── linear_pcg.h │ │ │ ├── local_preconditioner.cu │ │ │ ├── local_preconditioner.h │ │ │ ├── off_diag_linear_subsystem.cu │ │ │ ├── off_diag_linear_subsystem.h │ │ │ ├── spmv.cu │ │ │ └── spmv.h │ │ ├── newton_tolerance │ │ │ ├── max_translation_checker.cu │ │ │ ├── newton_tolerance_checker.cu │ │ │ ├── newton_tolerance_checker.h │ │ │ ├── newton_tolerance_manager.cu │ │ │ └── newton_tolerance_manager.h │ │ ├── sim_action.h │ │ ├── sim_action_collection.h │ │ ├── sim_engine.h │ │ ├── sim_engine_device_common.h │ │ ├── sim_engine_state.h │ │ ├── sim_system.cpp │ │ ├── sim_system.h │ │ ├── sim_system_slot.h │ │ ├── time_integrator │ │ │ ├── bdf1_flag.cu │ │ │ ├── bdf1_flag.h │ │ │ ├── time_integrator.cu │ │ │ ├── time_integrator.h │ │ │ ├── time_integrator_manager.cu │ │ │ └── time_integrator_manager.h │ │ ├── type_define.h │ │ ├── utils │ │ │ ├── codim_thickness.h │ │ │ ├── dihedral_angle.h │ │ │ ├── distance.h │ │ │ ├── distance │ │ │ │ ├── ccd.h │ │ │ │ ├── details │ │ │ │ │ ├── ccd.inl │ │ │ │ │ ├── edge_edge.inl │ │ │ │ │ ├── edge_edge_mollifier.inl │ │ │ │ │ ├── point_edge.inl │ │ │ │ │ ├── point_point.inl │ │ │ │ │ └── point_triangle.inl │ │ │ │ ├── distance_flagged.h │ │ │ │ ├── edge_edge.h │ │ │ │ ├── edge_edge_mollifier.h │ │ │ │ ├── point_edge.h │ │ │ │ ├── point_point.h │ │ │ │ └── point_triangle.h │ │ │ ├── dump_utils.h │ │ │ ├── friction_utils.h │ │ │ ├── make_spd.h │ │ │ ├── matrix_assembler.h │ │ │ ├── matrix_unpacker.h │ │ │ ├── offset_count_collection.cpp │ │ │ ├── offset_count_collection.h │ │ │ ├── primitive_d_hat.h │ │ │ └── simplex_contact_mask_utils.h │ │ └── xmake.lua │ ├── none │ │ ├── CMakeLists.txt │ │ ├── entrance.cpp │ │ ├── none_sim_system.cpp │ │ ├── none_sim_system.h │ │ ├── sim_engine.cpp │ │ └── sim_engine.h │ └── xmake.lua ├── constitution │ ├── CMakeLists.txt │ ├── affine_body_constitution.cpp │ ├── affine_body_driving_revolute_joint.cpp │ ├── affine_body_external_force.cpp │ ├── affine_body_revolute_joint.cpp │ ├── arap.cpp │ ├── baraff_witkin_shell.cpp │ ├── discrete_shell_bending.cpp │ ├── elastic_moduli.cpp │ ├── empty.cpp │ ├── finite_element_constitution.cpp │ ├── finite_element_extra_constitution.cpp │ ├── hookean_spring.cpp │ ├── inter_affine_body_constitution.cpp │ ├── inter_primitive_constitution.cpp │ ├── kirchhoff_rod_bending.cpp │ ├── neo_hookean_shell.cpp │ ├── particle.cpp │ ├── soft_position_constraint.cpp │ ├── soft_transform_constraint.cpp │ ├── soft_vertex_stitch.cpp │ ├── stable_neo_hookean.cpp │ ├── strain_limiting_baraff_witkin.cpp │ └── uid_placeholder.cpp ├── core │ ├── CMakeLists.txt │ ├── backend │ │ ├── CMakeLists.txt │ │ ├── buffer.cpp │ │ ├── buffer_view.cpp │ │ └── visitors │ │ │ ├── CMakeLists.txt │ │ │ ├── animator_visitor.cpp │ │ │ ├── contact_tabular_visitor.cpp │ │ │ ├── diff_sim_visitor.cpp │ │ │ ├── geometry_visitor.cpp │ │ │ ├── sanity_check_message_visitor.cpp │ │ │ ├── scene_visitor.cpp │ │ │ ├── subscene_tabular_visitor.cpp │ │ │ └── world_visitor.cpp │ ├── builtin │ │ ├── CMakeLists.txt │ │ ├── constitution_uid_auto_register.cpp │ │ ├── constitution_uid_collection.cpp │ │ ├── implicit_geometry_uid_auto_register.cpp │ │ ├── implicit_geometry_uid_collection.cpp │ │ ├── uid_info.cpp │ │ └── uid_register.cpp │ ├── common │ │ ├── CMakeLists.txt │ │ ├── abort.cpp │ │ ├── const_string_map.cpp │ │ ├── demangle.cpp │ │ ├── exception.cpp │ │ ├── log_pattern_guard.cpp │ │ ├── logger.cpp │ │ ├── resident_thread.cpp │ │ ├── timer.cpp │ │ └── uipc.cpp │ ├── constitution │ │ ├── CMakeLists.txt │ │ ├── constitution.cpp │ │ └── constraint.cpp │ ├── core │ │ ├── CMakeLists.txt │ │ ├── affine_body_state_accessor_feature.cpp │ │ ├── animation.cpp │ │ ├── animator.cpp │ │ ├── constitution_tabular.cpp │ │ ├── contact_element.cpp │ │ ├── contact_model.cpp │ │ ├── contact_system_feature.cpp │ │ ├── contact_tabular.cpp │ │ ├── diff_sim.cpp │ │ ├── engine.cpp │ │ ├── engine_status.cpp │ │ ├── feature_collection.cpp │ │ ├── finite_element_state_accessor_feature.cpp │ │ ├── i_engine.cpp │ │ ├── i_feature.cpp │ │ ├── i_sanity_checker.cpp │ │ ├── internal │ │ │ ├── engine.cpp │ │ │ ├── scene.cpp │ │ │ └── world.cpp │ │ ├── object.cpp │ │ ├── object_collection.cpp │ │ ├── object_snapshot.cpp │ │ ├── sanity_checker.cpp │ │ ├── scene.cpp │ │ ├── scene_archieve.cpp │ │ ├── scene_default_config.cpp │ │ ├── scene_default_config.h │ │ ├── scene_factory.cpp │ │ ├── scene_snapshot.cpp │ │ ├── subscene_element.cpp │ │ ├── subscene_model.cpp │ │ ├── subscene_tabular.cpp │ │ └── world.cpp │ ├── diff_sim │ │ ├── CMakeLists.txt │ │ ├── adjoint_method_feature.cpp │ │ ├── enable_grad_feature.cpp │ │ ├── parameter_collection.cpp │ │ └── sparse_coo_view.cpp │ ├── geometry │ │ ├── CMakeLists.txt │ │ ├── abstract_simplicial_complex.cpp │ │ ├── attribute.cpp │ │ ├── attribute_collection.cpp │ │ ├── attribute_collection_commit.cpp │ │ ├── attribute_collection_factory.cpp │ │ ├── attribute_copy.cpp │ │ ├── attribute_debug_info.cpp │ │ ├── attribute_factory.cpp │ │ ├── attribute_slot.cpp │ │ ├── attribute_type_export.cpp │ │ ├── geometry.cpp │ │ ├── geometry_atlas.cpp │ │ ├── geometry_collection.cpp │ │ ├── geometry_collection_commit.cpp │ │ ├── geometry_commit.cpp │ │ ├── geometry_factory.cpp │ │ ├── geometry_slot.cpp │ │ ├── implicit_geometry.cpp │ │ ├── implicit_geometry_slot.cpp │ │ ├── shared_attribute_context.cpp │ │ ├── simplicial_complex.cpp │ │ ├── simplicial_complex_attributes.cpp │ │ └── simplicial_complex_slot.cpp │ └── xmake.lua ├── geometry │ ├── CMakeLists.txt │ ├── affine_body │ │ ├── CMakeLists.txt │ │ ├── compute_body_force.cpp │ │ └── compute_dyadic_mass.cpp │ ├── apply_region.cpp │ ├── apply_transform.cpp │ ├── bvh.cpp │ ├── bvh │ │ ├── BVH.cpp │ │ ├── BVH.hpp │ │ ├── CMakeLists.txt │ │ ├── Morton.cpp │ │ └── Morton.hpp │ ├── closure.cpp │ ├── compute_instance_volume.cpp │ ├── compute_mesh_d_hat.cpp │ ├── compute_vertex_volume.cpp │ ├── constitution_type.cpp │ ├── distance.cpp │ ├── extract_surface.cpp │ ├── factory.cpp │ ├── flip_inward_triangles.cpp │ ├── graph_coloring │ │ ├── CMakeLists.txt │ │ ├── LICENSE.md │ │ ├── coloring_algorithm.cpp │ │ ├── coloring_algorithm.hpp │ │ ├── dsatur.cpp │ │ └── dsatur.hpp │ ├── implicit_geometries │ │ ├── CMakeLists.txt │ │ └── half_plane.cpp │ ├── intersection.cpp │ ├── is_trimesh_closed.cpp │ ├── label_connected_vertices.cpp │ ├── label_graph_color.cpp │ ├── label_region.cpp │ ├── label_surface.cpp │ ├── label_triangle_orient.cpp │ ├── merge.cpp │ ├── mesh_partition.cpp │ ├── octree.cpp │ ├── optimal_transform.cpp │ ├── points_from_volume.cpp │ ├── simplex_utils.cpp │ └── xmake.lua ├── gui │ ├── CMakeLists.txt │ └── common │ │ ├── CMakeLists.txt │ │ └── platform_handle.cpp ├── io │ ├── CMakeLists.txt │ ├── attribute_io.cpp │ ├── gltf_io.cpp │ ├── scene_io.cpp │ ├── simplicial_complex_io.cpp │ ├── spread_sheet_io.cpp │ ├── stl_reader.h │ ├── tiny_gltf_impl.cpp │ └── urdf_io.cpp ├── pybind │ ├── CMakeLists.txt │ ├── README.md │ ├── pyuipc │ │ ├── CMakeLists.txt │ │ ├── as_numpy.h │ │ ├── backend │ │ │ ├── CMakeLists.txt │ │ │ ├── buffer.cpp │ │ │ ├── buffer.h │ │ │ ├── buffer_view.cpp │ │ │ ├── buffer_view.h │ │ │ ├── diff_sim_visitor.cpp │ │ │ ├── diff_sim_visitor.h │ │ │ ├── module.cpp │ │ │ ├── module.h │ │ │ ├── scene_visitor.cpp │ │ │ ├── scene_visitor.h │ │ │ ├── world_visitor.cpp │ │ │ └── world_visitor.h │ │ ├── builtin │ │ │ ├── CMakeLists.txt │ │ │ ├── attribute_name.cpp │ │ │ ├── attribute_name.h │ │ │ ├── constitution_uid_collection.cpp │ │ │ ├── constitution_uid_collection.h │ │ │ ├── implicit_geometry_uid_collection.cpp │ │ │ ├── implicit_geometry_uid_collection.h │ │ │ ├── module.cpp │ │ │ ├── module.h │ │ │ ├── uid_register.cpp │ │ │ └── uid_register.h │ │ ├── common │ │ │ ├── CMakeLists.txt │ │ │ ├── json.h │ │ │ ├── logger.cpp │ │ │ ├── logger.h │ │ │ ├── module.h │ │ │ ├── resident_thread.cpp │ │ │ ├── resident_thread.h │ │ │ ├── span.h │ │ │ ├── timer.cpp │ │ │ ├── timer.h │ │ │ ├── transform.cpp │ │ │ ├── transform.h │ │ │ ├── uipc_type.cpp │ │ │ ├── uipc_type.h │ │ │ ├── unit.cpp │ │ │ └── unit.h │ │ ├── constitution │ │ │ ├── CMakeLists.txt │ │ │ ├── affine_body_constitution.cpp │ │ │ ├── affine_body_constitution.h │ │ │ ├── affine_body_external_force.cpp │ │ │ ├── affine_body_external_force.h │ │ │ ├── affine_body_revolute_joint.cpp │ │ │ ├── affine_body_revolute_joint.h │ │ │ ├── arap.cpp │ │ │ ├── arap.h │ │ │ ├── constitution.cpp │ │ │ ├── constitution.h │ │ │ ├── constraint.cpp │ │ │ ├── constraint.h │ │ │ ├── discrete_shell_bending.cpp │ │ │ ├── discrete_shell_bending.h │ │ │ ├── elastic_moduli.cpp │ │ │ ├── elastic_moduli.h │ │ │ ├── empty.cpp │ │ │ ├── empty.h │ │ │ ├── finite_element_constitution.cpp │ │ │ ├── finite_element_constitution.h │ │ │ ├── finite_element_extra_constitution.cpp │ │ │ ├── finite_element_extra_constitution.h │ │ │ ├── hookean_spring.cpp │ │ │ ├── hookean_spring.h │ │ │ ├── inter_affine_body_constitution.cpp │ │ │ ├── inter_affine_body_constitution.h │ │ │ ├── inter_primitive_constitution.cpp │ │ │ ├── inter_primitive_constitution.h │ │ │ ├── kirchhoff_rod_bending.cpp │ │ │ ├── kirchhoff_rod_bending.h │ │ │ ├── module.cpp │ │ │ ├── module.h │ │ │ ├── neo_hookean_shell.cpp │ │ │ ├── neo_hookean_shell.h │ │ │ ├── particle.cpp │ │ │ ├── particle.h │ │ │ ├── soft_position_constraint.cpp │ │ │ ├── soft_position_constraint.h │ │ │ ├── soft_transform_constraint.cpp │ │ │ ├── soft_transform_constraint.h │ │ │ ├── soft_vertex_stitch.cpp │ │ │ ├── soft_vertex_stitch.h │ │ │ ├── stable_neo_hookean.cpp │ │ │ ├── stable_neo_hookean.h │ │ │ ├── strain_limiting_baraff_witkin.cpp │ │ │ └── strain_limiting_baraff_witkin.h │ │ ├── core │ │ │ ├── CMakeLists.txt │ │ │ ├── animator.cpp │ │ │ ├── animator.h │ │ │ ├── constitution_tabular.cpp │ │ │ ├── constitution_tabular.h │ │ │ ├── contact_system_feature.cpp │ │ │ ├── contact_system_feature.h │ │ │ ├── contact_tabular.cpp │ │ │ ├── contact_tabular.h │ │ │ ├── diff_sim.cpp │ │ │ ├── diff_sim.h │ │ │ ├── engine.cpp │ │ │ ├── engine.h │ │ │ ├── feature.cpp │ │ │ ├── feature.h │ │ │ ├── feature_collection.cpp │ │ │ ├── feature_collection.h │ │ │ ├── module.cpp │ │ │ ├── module.h │ │ │ ├── object.cpp │ │ │ ├── object.h │ │ │ ├── pyengine.cpp │ │ │ ├── pyengine.h │ │ │ ├── sanity_checker.cpp │ │ │ ├── sanity_checker.h │ │ │ ├── scene.cpp │ │ │ ├── scene.h │ │ │ ├── scene_factory.cpp │ │ │ ├── scene_factory.h │ │ │ ├── scene_io.cpp │ │ │ ├── scene_io.h │ │ │ ├── scene_snapshot.cpp │ │ │ ├── scene_snapshot.h │ │ │ ├── state_accessor_feature.cpp │ │ │ ├── state_accessor_feature.h │ │ │ ├── subscene_tabular.cpp │ │ │ ├── subscene_tabular.h │ │ │ ├── world.cpp │ │ │ └── world.h │ │ ├── diff_sim │ │ │ ├── CMakeLists.txt │ │ │ ├── module.cpp │ │ │ ├── module.h │ │ │ ├── parameter_collection.cpp │ │ │ ├── parameter_collection.h │ │ │ ├── sparse_coo_view.cpp │ │ │ └── sparse_coo_view.h │ │ ├── geometry │ │ │ ├── CMakeLists.txt │ │ │ ├── attribute_collection.cpp │ │ │ ├── attribute_collection.h │ │ │ ├── attribute_creator.h │ │ │ ├── attribute_io.cpp │ │ │ ├── attribute_io.h │ │ │ ├── attribute_slot.cpp │ │ │ ├── attribute_slot.h │ │ │ ├── factory.cpp │ │ │ ├── factory.h │ │ │ ├── geometry.cpp │ │ │ ├── geometry.h │ │ │ ├── geometry_atlas.cpp │ │ │ ├── geometry_atlas.h │ │ │ ├── geometry_slot.cpp │ │ │ ├── geometry_slot.h │ │ │ ├── implicit_geometry.cpp │ │ │ ├── implicit_geometry.h │ │ │ ├── implicit_geometry_slot.cpp │ │ │ ├── implicit_geometry_slot.h │ │ │ ├── module.cpp │ │ │ ├── module.h │ │ │ ├── simplicial_complex.cpp │ │ │ ├── simplicial_complex.h │ │ │ ├── simplicial_complex_io.cpp │ │ │ ├── simplicial_complex_io.h │ │ │ ├── simplicial_complex_slot.cpp │ │ │ ├── simplicial_complex_slot.h │ │ │ ├── spread_sheet_io.cpp │ │ │ ├── spread_sheet_io.h │ │ │ ├── urdf_io.cpp │ │ │ ├── urdf_io.h │ │ │ ├── utils.cpp │ │ │ └── utils.h │ │ ├── module.cpp │ │ ├── pyuipc.cpp │ │ ├── pyuipc.h │ │ └── usd │ │ │ ├── CMakeLists.txt │ │ │ ├── module.cpp │ │ │ └── module.h │ └── xmake.lua ├── sanity_check │ ├── CMakeLists.txt │ ├── context.cpp │ ├── context.h │ ├── details │ │ ├── sanity_checker.inl │ │ └── sanity_checker_collection.inl │ ├── dllexport.cpp │ ├── entrance.cpp │ ├── entrance.h │ ├── half_plane_vertex_distance_check.cpp │ ├── primtive_contact.h │ ├── sanity_checker.cpp │ ├── sanity_checker.h │ ├── sanity_checker_auto_register.cpp │ ├── sanity_checker_auto_register.h │ ├── sanity_checker_collection.cpp │ ├── sanity_checker_collection.h │ ├── sanity_checker_exception.h │ ├── simplicial_surface_distance_check.cpp │ ├── simplicial_surface_intersection_check.cpp │ └── simplicial_volume_check.cpp ├── usd │ ├── CMakeLists.txt │ ├── prim.cpp │ ├── private │ │ ├── prim.h │ │ └── stage.h │ ├── stage.cpp │ ├── stage_io.cpp │ ├── uipcPhysics │ │ ├── generatedSchema.usda │ │ ├── plugInfo.json │ │ └── schema.usda │ └── usd.cpp ├── vdb │ ├── CMakeLists.txt │ └── points_from_volume.cpp └── xmake.lua ├── xmake.lua └── xmake └── rules.lua /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/spiriMirror/libuipc/HEAD/.clang-format -------------------------------------------------------------------------------- /.editorconfig: 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