Silico allows you to quickly build rigid-body contact simulation environments. It unifies the problem of contact dynamics and the collision detection problem by formulating a single Nonlinear Complementarity Problem (NCP). Silico jointly solves for the contact impact forces, friction forces and the contact point locations. The NCP is solved efficiently using a primal-dual interior point method implemented in Mehrotra.jl.
It handles collision between ``convex bundles''. A convex bundle is a non-convex shape resulting from the composition of convex shapes through union and Minkowski sum operations.
For more information, please refer to:
The light green object is the result of the union of two convex shapes, the dark green shapes results for the Minkowski sum of a polytope and a sphere.
@article{lecleach2022silico,
title={Single-Level Differentiable Contact Simulation },
author={Le Cleac'h, Simon and Schwager, Mac and Manchester, Zachary and Sindhwani, Vikas and Florence, Pete and Singh, Sumeet},
journal={arXiv preprint arXiv:2212.06764},
year={2022}
}