Question: Simulate a rigid-soft structure

[Hhannzch]

Dear @changyu-hu ,

Thanks for the amazing work. It's very inspiring and helpful!
I have a question about the object simulation. Does it also support simulating a rigid-soft hybrid structure? For example, I would like to simulate a fish with a bone. If not, is there any kind of alternative way to implement it?

Thanks in advance.

[changyu-hu]

Hi! Thank you for the kind words and your interest in our work!

Currently, our implementation only supports VBD-based elastic (soft body) simulation, so it doesn't natively support rigid-soft hybrid structures out of the box.

However, there are two alternative ways you can achieve this:

• The simplest workaround: You can slightly modify the code to support element-wise material parameters. By setting a very high Young's modulus for the elements representing the "bone" part, you can effectively approximate rigid behavior within the soft body.
• Custom implementation: If you prefer to integrate your own solid/rigid simulation implementation, that is totally fine too! You just need to make sure it follows the existing ISolidSolver interface.

Hope this helps! Let me know if you have any further questions.