richardrl / hydroelastics

Efficient contact dynamics simulation using a hydroelastic pressure field model

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 programming language.

Setup

The following requirements must be present in your environment.

• Julia 1.7+
• Just: a command runner

Then, run the following command to instantiate the Julia package environment.

just install

To run the interactive Julia REPL or open a Pluto notebook server, use the following commands:

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:

just test

Development

We use JuliaFormatter.jl to automatically format Julia code. To format all of the files in the project, you can run the command:

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, Franklyn Wang, and Eric Zhang. Licensed under the MIT license.