A tutorial on implementing a simple C++ rigid body simulator.

The tutorial follows Appendix A from the SIGGRAPH'22 Course on contact and friction simulation for computer graphics.

CMake is used to build the main application. To build and run the code, first create a sub-directory:

> mkdir build

Then, configure the project for the specific build target:

> cd build
> cmake -DCMAKE_BUILD_TYPE=Debug ..

Finally, compile using your favorite build tool or IDE, e.g.

> make

The code has been compiled and tested on Windows (MS Visual C++ 2019), Ubuntu Linux (g++ 9.3 with VS Code), and MacOS (Clang)

The following dependencies are included and compiled automatically (see the 3rdParty directory):

• Eigen
• Polyscope

Implementations of a matrix-free Projected Gauss-Seidel (PGS) solver for boxed LCPs (see SolverBoxPGS.h/.cpp)

The CollisionDetect.h class handles collision detection and contact generation for all pairs of simulation bodies. For this tutorial, the following geometries are supported:

• Spheres
• Boxes

And you will implemented collision handling for the following geometry pairs:

• Sphere-sphere
• Sphere-box

Implementation of the box friction cone model (see Contact.h/.cpp).