https://github.com/ekzhang/hydroelastics
Efficient contact dynamics simulation using a hydroelastic pressure field model
https://github.com/ekzhang/hydroelastics
geometry gpu graphics julia physics robotics simulation
Last synced: about 1 year ago
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Efficient contact dynamics simulation using a hydroelastic pressure field model
- Host: GitHub
- URL: https://github.com/ekzhang/hydroelastics
- Owner: ekzhang
- License: mit
- Created: 2021-11-04T06:34:57.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2021-12-08T22:59:37.000Z (over 4 years ago)
- Last Synced: 2025-03-23T21:23:19.318Z (about 1 year ago)
- Topics: geometry, gpu, graphics, julia, physics, robotics, simulation
- Language: Julia
- Homepage:
- Size: 114 KB
- Stars: 5
- Watchers: 3
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Hydroelastics.jl
This repository contains code for a contact force simulator for soft objects, using a hydroelastic pressure field intersection model.
The simulator is implemented using the [Julia](https://julialang.org/) programming language.
## Setup
The following requirements must be present in your environment.
- [Julia 1.7+](https://julialang.org/)
- [Just](https://github.com/casey/just): a command runner
Then, run the following command to instantiate the Julia package environment.
```bash
just install
```
To run the interactive [Julia REPL](https://docs.julialang.org/en/v1/stdlib/REPL/) or open a [Pluto](https://github.com/fonsp/Pluto.jl) notebook server, use the following commands:
```bash
just repl # open Julia REPL (can add packages here)
just notebook # start server (try opening examples/cube.jl)
```
To unit tests specified in the `test/` folder, use the command:
```bash
just test
```
## Development
We use [JuliaFormatter.jl](https://github.com/domluna/JuliaFormatter.jl) to automatically format Julia code. To format all of the files in the project, you can run the command:
```bash
just format
```
Note that there is a CI job that automatically checks formatting and test cases before pull requests can be merged.
## Acknowledgements
Made by [Vincent Huang](https://twitter.com/vvhuang_), [Franklyn Wang](https://twitter.com/franklyn_wang), and [Eric Zhang](https://twitter.com/ekzhang1). Licensed under the [MIT license](LICENSE).