Solvers#
A solver is the physics engine for one class of material. Each solver owns the entities built from its materials, advances their state every substep, and exposes the state back to the scene. A scene can run several solvers at once, so a single simulation can mix rigid robots, deformable solids, cloth, fluids, and smoke. For how solvers exchange forces at their interfaces, see Coupling.
You rarely construct a solver directly. Add an entity with a material and the scene routes it to the matching solver; configure that solver through its options object. For how to combine solvers in one scene and choose between them, see Beyond rigid bodies and Coupling.
Note
ToolSolver is a temporary solver for one-way differentiable coupling from a rigid tool to soft bodies. It will be removed once the RigidSolver supports differentiability directly.