An Implementation of "Primal/Dual Descent Methods for Dynamics"

This repository contains an implementation of primal and dual solvers in Rust for rigid body physics from the paper, in an easily-extensible manner. It also has a formulation of Cosserat rods implemented using this, taken from "Rod-Bonded Discrete Element Method" by Zhang et al.

To run, first install Cargo, and then execute cargo r. Note that this program is not at all optimized, and a lot of the calculations can be sped up.

Controls:

• [SPACE]: Pause / Unpause
• .: Step forward one frame
• P: Toggle between primal and dual solvers
• C: Toggle between using exact and cheap preconditioners for the dual solver. The cheap preconditioner replaces the matrix inverse with the reciprocal of the diagonal, similar to the primal preconditioner.
• W: Toggle warm starting for the primal solver - currently broken.
• [ESC]: Exit