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libuipc

A Cross-Platform Modern C++20 Library of Unified Incremental Potential Contact.

Both C++ and Python APIs are provided!

Introduction

Libuipc provides a unified GPU incremental potential contact framework for rigid bodies, soft bodies, cloth, rods, and their couplings. Its frictional contact pipeline targets non-penetration from valid initial geometry through successful collision and solve steps; this is not a guarantee for invalid inputs or failed solves. Forward simulation is the primary supported workflow. Differentiable-simulation APIs exist for selected paths, while broad backward-simulation coverage remains under development.

We are actively developing Libuipc and will continue to add more features and improve its performance. We welcome any feedback and contributions from the community!

Why Libuipc

  • Easy & Powerful: Libuipc offers an intuitive and unified approach to creating and accessing vivid simulation scenes, supporting a variety of objects and constraints that can be easily added.
  • GPU Simulation: Contact, constitutions and linear algebra run on the GPU, with host-side orchestration and convergence checks. Solver settings and validation status matter for accuracy and robustness.
  • High Flexibility: Libuipc provides APIs in both Python and C++ and supports both Linux and Windows systems.
  • Differentiable Simulation Roadmap: Selected APIs are available; complete model and contact coverage is not yet a supported guarantee.

Key Features

  • Finite Element-Based Deformable Simulation
  • Rigid & Soft Body Strong Coupling Simulation
  • Penetration-Free & Accurate Frictional Contact Handling
  • User Scriptable Animation Control
  • Differentiable Simulation APIs (partial coverage; under development)

Document Guidance

  • Build & Install: Instructions to build and install Libuipc on different platforms.
  • Tutorial: Learn the basic concepts and how to use Libuipc step by step.
  • Specification: Detailed definition and explanation of the design and behaviour of Libuipc.

Citation

If you use Libuipc in your project, please cite our works:

@article{stiffgipc2025,
      author = {Huang, Kemeng and Lu, Xinyu and Lin, Huancheng and Komura, Taku and Li, Minchen},
      title = {StiffGIPC: Advancing GPU IPC for Stiff Affine-Deformable Simulation},
      year = {2025},
      publisher = {Association for Computing Machinery},
      volume = {44},
      number = {3},
      issn = {0730-0301},
      doi = {10.1145/3735126},
      journal = {ACM Trans. Graph.},
      month = may,
      articleno = {31},
      numpages = {20}
}

@article{gipc2024,
      author = {Huang, Kemeng and Chitalu, Floyd M. and Lin, Huancheng and Komura, Taku},
      title = {GIPC: Fast and Stable Gauss-Newton Optimization of IPC Barrier Energy},
      year = {2024},
      publisher = {Association for Computing Machinery},
      volume = {43},
      number = {2},
      issn = {0730-0301},
      doi = {10.1145/3643028},
      journal = {ACM Trans. Graph.},
      month = {mar},
      articleno = {23},
      numpages = {18}
}