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Getting started Scene Mesh Primitive Primitive union Connectivity Attribute Minimizer Solver Differentiator Matrix Jacobian Hessian Gradient Examples Dropping in a container Cubify Inverse simulation

Guided examples

Examples

Three focused walkthroughs that move from forward contact simulation to custom minimization and differentiable inverse simulation.

Dropping in a container Primitive unions, dynamic collision energies, changing primitive counts, and custom CCD. Cubify Two minimizers, frozen local-global state, direct Newton directions, and line search. Inverse simulation Jacobians, transpose sparse matrix-vector products, direct solver use, and Adam updates.

Important note: if you changed the computation of any attribute, it is vital that you remove a directory in the folder where you execute the code:

rm -rf .yasps_tmp

This folder contains all the JIT compiled code for computations. As of now we don’t have a very exhaustive cache invalidation process, so if two attributes are given the same name but computed differently across different runs, YASPS cannot invalidate the previous generated code and will try to reuse that generated code. If you encounter unexpected behavior, try removing this directory and restarting.

This does not apply to any topology change, or supplying the same simulation with different meshes. It only applies to changes to symbolic computations.