Demos¶

NovaPhy includes a comprehensive set of demos using Polyscope for 3D visualization.

Rigid Body¶

Demo	Description	Physics
`demo_pyramid_ball.py`	4-3-2-1 pyramid with sphere projectile; `--solver {semi_implicit,featherstone,xpbd}`	Free body / Featherstone / XPBD
`demo_friction_ramp.py`	Boxes on 30-degree ramp, different friction	Coulomb friction
`demo_wall_break.py`	5x5 wall hit by sphere	Dynamic collision
`demo_dominoes.py`	20 dominoes chain reaction	Angular impulse
`demo_unified_collision.py`	Gallery of all collision pairs	SAT narrowphase
`demo_pyramids_numerous.py`	Stress test: many pyramids	Sequential Impulse
`xpbd/demo_xpbd_stack.py`	Supported wall stack	XPBD constraints
`xpbd/demo_xpbd_weld.py`	Welded bodies	XPBD weld constraint

Articulated Body (Featherstone)¶

Demo	Description	Physics
`multibody_demo/demo_newtons_cradle_pendulum.py`	Newton's cradle with hinge suspension	Revolute joints + contacts
`multibody_demo/demo_rope.py`	15-link chain released from horizontal	Multi-joint chain
`multibody_demo/demo_wrecking_ball.py`	Chain pendulum smashing a box tower	Joint + rigid contacts
`multibody_demo/demo_seesaw.py`	Box dropped onto revolute seesaw	Joint + impact
`multibody_demo/demo_motor_arm.py`	Motor-driven arm sweeping boxes	Torque-level PD
`multibody_demo/demo_100_robots_multibody.py`	Quadruped grid via Featherstone	Floating base + PGS
`demo_100_robots.py`	Quadruped grid via XPBD	SolverXPBD

Robotics & Control¶

Demo	Description	Physics
`demoSim_ppo_inverted_pendulum.py`	PPO control of a single revolute pendulum	Forward dynamics + RL
`demo_ik_arm.py`	Damped-least-squares IK	Analytical Jacobian
`demo_basic_urdf.py`	URDF loading smoke test	URDF parser
`demo_robot_sim_pipeline.py`	URDF to USD full pipeline with torque control	Featherstone + export
`demo_sensors.py`	Sensor system demo	Sensor readings

Fluid¶

Demo	Description	Physics
`demo_dam_break.py`	Rectangular fluid block collapses	PBF solver
`demo_fluid_box.py`	~8000 particles sloshing in a moving box	PBF + domain bounds
`demo_ball_in_water.py`	Ball dropping into water	Rigid-fluid coupling (Akinci)
`demo_fluid_coupling.py`	Boxes and spheres splashing into water	PBF + Akinci + rigid collision

IPC¶

Demo	Description	Physics
`demo_ipc_stack.py`	Box stacking with guaranteed no-penetration	IPC via libuipc (CUDA)

VBD / AVBD¶

Demo	Description	Physics
`demo_vbd_contacts_gui.py`	Rigid contacts	AVBD primal-dual + Coulomb friction
`demo_vbd_joint_gui.py`	Joints between bodies	AVBD augmented-Lagrangian joints
`demo_vbd_spring_gui.py`	Springs between bodies	AVBD compliant springs
`demo_vbd_lunar_rover.py`	Lunar rover simulation	AVBD contacts + joints

Profiling¶

Demo	Description
`demo_performance_monitor.py`	Performance monitoring with `--scene {rigid,fluid}`

Running Demos¶

# Install visualization dependency
pip install polyscope

# Run any demo
python demos/demo_pyramid_ball.py

# Some demos accept solver selection
python demos/demo_pyramid_ball.py --solver featherstone

# Profiling demo with options
python demos/demo_performance_monitor.py --scene rigid --measured-steps 120