The engine driving SuperDex
Welcome to SuperDex Physics.
A contact-first physics engine purpose-built for tactile manipulation, and applicable wherever stable contact and accurate sensing matter. This is the simulation backbone of Project SuperDex.
Multi-Physics Simulation
Unified solver for rigid bodies, soft bodies, rods & tendons, shells & cloth — with more physics on the way.
Arbitrary Rigid & Soft Articulations
Articulated bodies with varying joint types, supporting both rigid links and deformable elements in a single model.
Non-Convex Collision
Accurate contact force distributions for arbitrary geometries including non-convex and deforming objects.
Numerical Stability
Robust simulation without the restrictive time-step stability limits of explicit or semi-implicit methods.
Inverse Kinematics
Constraint-aware inverse-kinematics, built on the same nonlinear optimization core as the forward dynamics, solve physically accurate poses under collision, end-effector, and trajectory constraints.