A minimal python package to simulate visual deformation and tactile response of deformable objects.
Currently simulate quasi-static linear FEM models.
Key features:
- Stable simulation from stable implicit equilibrium solving.
- Flexible to different material models,
- stiffness matrices are derived from elastic energy using PyTorch auto-diff.
- Efficeincy from sparse linear solver.
- solve one time step for ~4000 tetrahedra mesh takes 0.03s
Example of cube simulation, red arrow indicates pushed deformation, green arrow indicates contact force:
Example of tree deformation:
Testing scripts:
python tests/test_sim_tree.py
The simulation of the tree deformation will be displayed.