IPCCoupler#

The IPCCoupler (Incremental Potential Contact) provides robust contact handling for multi-physics scenarios.

Overview#

IPC coupling:

  • Variational contact formulation

  • Guaranteed intersection-free trajectories

  • Robust for challenging contact scenarios

  • Higher computational cost

Usage#

import genesis as gs

gs.init()
scene = gs.Scene(
    coupler_options=gs.options.IPCCouplerOptions(
        d_hat=0.001,  # Contact distance threshold
    ),
)

When to Use IPC#

  • Complex deformable-deformable contact

  • Scenarios requiring intersection-free guarantees

  • When stability is more important than speed

See Also#