YASPS: A Symbolic Framework for Extensible, High-Performance IPC Simulation

摘要

Incremental Potential Contact (IPC) has emerged as a robust and unifying formulation for contact-rich physical simulation by casting elasticity and collision handling as a single energy minimization problem. Achieving high performance, however, typically requires heavily specialized implementations that hard-code assumptions about energies, primitive types, and parameterizations, creating a major barrier to extensibility. Adding new energies or alternative parameterizations often requires re-deriving first and second-order derivatives, and implementing new assembly logic for the global Hessian and gradient. This challenge is further exacerbated by collision energies, where the same energy definition is often applied to mixed parameterizations, which can lead to a combinatorial explosion of parameterization-specific derivative and assembly cases. In this paper we introduce YASPS, a framework for physical simulation that resolves this limitation by making structural relationships explicit in a differentiable representation. YASPS introduces two relational operators, JOIN and UNION, which encode connectivity and heterogeneous parameterizations directly in the symbolic computation graph. Using symbolic differentiation over these operators, YASPS automatically derives local derivatives, and determines the induced sparsity and block structure of global gradients and Hessians from the same description while avoiding any code explosion induced by mixed-parameterizations. Targeting IPC workloads, YASPS compiles the resulting symbolic graphs into GPU kernels for local energy evaluation, derivative computation, and block-sparse matrix assembly, and solves the resulting Newton systems using a GPU-based iterative solver. This approach achieves performance competitive with state-of-the-art IPC implementations while enabling new energies and parameterizations to be added through localized symbolic definitions, without hand-written derivative or assembly code.