Abstract:We introduce a general differentiable solver for time-dependent deformation problems with contact. Our approach uses a finite element discretization with a high-order time integrator coupled with the recently proposed incremental potential contact method for handling contact and friction forces to solve PDE-and ODE-constrained optimization problems on scenes with a complex geometry. It support static and dynamic problems, it support differentiation with respect to all physical parameters involved in the physic… Show more
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