Differentiable Rigid Body Simulator

This repository contains the differentiable particle-based physical simulator used in PhyRecon(NeurIPS 2024).

For details on the theory behind this simulator, please refer to the course:

Impulse-based Collision Response Algorithm for Rigid Body Dynamics

Installation

conda create -n simulator python=3.9
conda activate simulator
pip install torch==2.0.1 --index-url https://download.pytorch.org/whl/cu118
pip install -r requirements.txt

Examples

To visualize the forward simulation, run:

python vis_drop.py

To test gradient backpropagation, run:

python sim_collision.py

Acknowledgements

We would like to express our gratitude to the authors of DiffTaichi for their outstanding work.

If this helps you, please cite us!

@inproceedings{ni2024phyrecon,
  title={PhyRecon: Physically Plausible Neural Scene Reconstruction}, 
  author={Junfeng Ni and Yixin Chen and Bohan Jing and Nan Jiang and Bin Wang and Bo Dai and Puhao Li and Yixin Zhu and Song-Chun Zhu and Siyuan Huang},
  journal={Advances in Neural Information Processing Systems},
  year={2024}
}