📄️ Context
Context is the process-level entry point for SuperDex Physics. It owns shared state such as worker resources and shapes, and it creates independent Scene objects that contain simulations. Create one Context per process and keep it alive until all physics work is complete.
📄️ Scenes
A Scene is an independent simulation container owned by a Context. It owns its actors, constraints, callbacks, captured states, and evolving simulation state. Actors in different scenes do not interact.
📄️ Dynamics
SuperDex Physics advances mechanical systems by stable implicit time integration of their equations of motion. This page introduces the continuous system dynamics, describes SuperDex Physics' unified implicit time integration, and discusses how problem structure can often be exploited to formulate the implicit equations as an optimization problem within each step.
🗃️ Actors
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📄️ Shapes
Shapes are immutable, reusable geometry registered with the process Context. Public APIs represent a registered shape with a ShapeHandle; there is no public polymorphic Shape object to manage.
📄️ Queries
Queries provide on-demand, reference-counted computation of derived simulation data. SuperDex Physics computes and stores this data only while it is requested, so the selected queries affect both step cost and memory use.
📄️ Constraints
Constraints in SuperDex Physics model interactions and attachments between actors. They are the primary mechanism for coupling degrees of freedom (DoFs) across different entities in a simulation, enabling joints, springs, attachments, and kinematic targets.
📄️ Contact
SuperDex Physics uses a compliant contact model, which can be interpreted as either a penalty regularization of an inequality constraint or as a reduced model of local surface deformation. This approach provides smooth, differentiable contact forces suitable for implicit time integration and optimization-based solvers, and provides spatial distributions of contact traction fields acting on the surfaces of bodies, rather than just point-contact force resultants. Compliant contact allows for some interpenetration of colliding bodies, which is evaluated using signed distance fields (SDFs) and generalizations thereof defined on their geometries.
📄️ Pose Controller
The SuperDex Physics Pose Controller is an implicit proportional-derivative (PD) controller for articulated actors. It represents tracking objectives as soft spring-damper constraints and solves them together with the rest of the dynamics. This avoids the numerical instability that an explicit force controller can exhibit at high gains.
📄️ Inverse Kinematics
The IK solver is part of the experimental API. Its API may change in future releases.
📄️ Prefabs
Prefabs are declarative JSON documents that describe a complete physics scene or a reusable part of one. They are commonly named with the .mochiscene or .mochiprefab extension; both names use the same prefab data model.
📄️ Solvers
The general form of the implicit time integrator defined on the Dynamics page requires solving a system of nonlinear equations (SNLE) in each implicit stage. In the notation established on that page, this problem can be written
📄️ Transmissions
Transmissions are part of the experimental API. Their API may change in future releases.
📄️ State Capture
State capture checkpoints the dynamic, step-to-step state of a scene. It supports replaying a scene from an earlier point, branching multiple rollouts from one checkpoint, and transferring state to another compatible scene.