IPC Toolkit
Description
IPC Toolkit is a set of reusable functions to integrate Incremental Potential Contact (IPC) into a simulation.
Features
- IPC barrier function and its derivatives and adaptive barrier stiffness algorithm
- Broad-phase and narrow-phase continuous collision detection (CCD)
- Distance computation and derivatives between edges in 2D and triangles in 3D
- Distance barrier potential and its derivatives
- Smooth and lagged dissipative friction potential and its derivatives
Limitations
This is not a full simulation library. As such it does not include any physics or solvers. For a full simulation implementation, we recommend PolyFEM (a finite element library) or Rigid IPC (rigid-body dynamics) both of which utilize the IPC Toolkit.
Installation
To install the latest release, you can use pip:
pip install ipctk
If you wish to install the current development code, you can compile the library from scratch. Either clone the repo manually or use git+ with pip:
pip install git+https://github.com/ipc-sim/ipc-toolkit
Help/Documentation
Contributing
This project is open to contributors! Contributions can come in the form of feature requests, bug fixes, documentation, tutorials, and the like. We highly recommend filing an Issue first before submitting a Pull Request.
Simply fork this repository and make a Pull Request! We would appreciate:
- Implementation of new features
- Bug Reports
- Documentation
- Testing
Citation
If you use the IPC Toolkit in your project, please consider citing our work:
@software{ipc_toolkit,
author = {Zachary Ferguson and others},
title = {{IPC Toolkit}},
url = {https://github.com/ipc-sim/ipc-toolkit},
year = {2020},
}
Additionally, you can cite the original IPC paper:
@article{Li2020IPC,
author = {Minchen Li and Zachary Ferguson and Teseo Schneider and Timothy Langlois and
Denis Zorin and Daniele Panozzo and Chenfanfu Jiang and Danny M. Kaufman},
title = {Incremental Potential Contact: Intersection- and Inversion-free Large Deformation Dynamics},
journal = {ACM Trans. Graph. (SIGGRAPH)},
year = {2020},
volume = {39},
number = {4},
articleno = {49}
}
License
This project is licensed under the MIT License.
You are free to use, modify, and distribute this code in your projects, even commercial ones, as long as you include the original copyright and license notice. A copy of the full license text can be found in the LICENSE file.
If you use this code in a product you distribute to others, you are required to include a copy of the original copyright and license notice. This is typically done in the product's documentation, an "About" or "Third-Party Licenses" section, or in a clear open-source software statement.
1 maintainer
Metadata
1 maintainer
Release files for ipctk 1.6.1
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | Actions |
|---|---|---|---|---|
| ipctk-1.6.1.tar.gz | 339.7 kB | With provenance | Details for ipctk-1.6.1.tar.gz |
Built distributions (wheels)
Total release size: 36.7 MB
Release files / ipctk-1.6.1.tar.gz
| Download URL | ipctk-1.6.1.tar.gz |
|---|---|
| Size | 339.7 kB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
730eaf1570a34d3b409cb49d95e590a212ac7abbfa980ec4243fe58e78fb0395
|
|
BLAKE2b-256 checksum How to use checksums |
2a7a80b1c43e29dc38a5608363dd3f0956b3c12bdddc47c33fc08ad1b9428b08
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp314-cp314-win_amd64.whl
| Download URL | ipctk-1.6.1-cp314-cp314-win_amd64.whl |
|---|---|
| Size | 2.2 MB |
| Tags | CPython 3.14 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
feb0e81ea894f138885ea4bd9e07f6fcc9fff76e9604e356a537df417a67df4c
|
|
BLAKE2b-256 checksum How to use checksums |
9aca465d716814c827fb58bb1833a75d8c4225b9a9c51b16bac2b5f70b5f6284
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | ipctk-1.6.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 3.0 MB |
| Tags | CPython 3.14 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
1170d74525a736705c9388be8982008f0d05092438d8b49884adeaa69eea44b5
|
|
BLAKE2b-256 checksum How to use checksums |
512032ce7050fcb9a7c02856906801f94d3e9b0e1921b7aa1818df0057fb83e1
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp314-cp314-macosx_11_0_arm64.whl
| Download URL | ipctk-1.6.1-cp314-cp314-macosx_11_0_arm64.whl |
|---|---|
| Size | 2.2 MB |
| Tags | CPython 3.14 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
1f2760154a0a12fd357ce254e77e3e5fa76ce77272682dc176ad7d1363753b3f
|
|
BLAKE2b-256 checksum How to use checksums |
89b2db9f4a6a1c8e77d5040b6cb0d091c726ed44774e23c25a59e7201eff2e3a
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp313-cp313-win_amd64.whl
| Download URL | ipctk-1.6.1-cp313-cp313-win_amd64.whl |
|---|---|
| Size | 2.1 MB |
| Tags | CPython 3.13 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
6bda4c756d5e4eceaf7305b51953e058a04be1e74c1e3d09831007417e4fd1a0
|
|
BLAKE2b-256 checksum How to use checksums |
21ac42a420fcc0da6b433f536c06e927e4b5a44496a89f21de3535cbcbd8df3b
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | ipctk-1.6.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 3.0 MB |
| Tags | CPython 3.13 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
64713c1477c791554f1d7307ed47ba9671d3b8bfa2534a067e4c58aa2f248e9c
|
|
BLAKE2b-256 checksum How to use checksums |
f981d2f46777cd375aa1e591fd8c0b13c870f43974320ac6ee104824b6548ea4
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp313-cp313-macosx_11_0_arm64.whl
| Download URL | ipctk-1.6.1-cp313-cp313-macosx_11_0_arm64.whl |
|---|---|
| Size | 2.2 MB |
| Tags | CPython 3.13 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
dd6b7b92b9c168b7c083dca35f50d63bf3d39ef94a3a0d8e80349b7aaa2fb0f5
|
|
BLAKE2b-256 checksum How to use checksums |
8c147eb789092b99d06c4009e9636ae0fe2cd6ce471ad6896e2eb46b5a94f411
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp312-cp312-win_amd64.whl
| Download URL | ipctk-1.6.1-cp312-cp312-win_amd64.whl |
|---|---|
| Size | 2.1 MB |
| Tags | CPython 3.12 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
03f141b0527728a7fb435e429d9e12aed6e2fdeaf230782c6d448b38cc3c11f8
|
|
BLAKE2b-256 checksum How to use checksums |
ff1fc4c5a369828c1bd31c8ff042bd7705c6b549f27a5fbeaf77cd50cb10895a
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | ipctk-1.6.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 2.9 MB |
| Tags | CPython 3.12 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
f47fbd44c2acc720ef3ccf2ce15def0a887f7e2b92133fee08261b8658547071
|
|
BLAKE2b-256 checksum How to use checksums |
dc143b221c41f20807f6f2399a67dfcaf8d51dd37a3584b6a0c3750e7abf602c
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp312-cp312-macosx_11_0_arm64.whl
| Download URL | ipctk-1.6.1-cp312-cp312-macosx_11_0_arm64.whl |
|---|---|
| Size | 2.2 MB |
| Tags | CPython 3.12 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
dfb719413bfe4707fce0c41e95974037235c79fd88e9de9c3197ea14cfc62964
|
|
BLAKE2b-256 checksum How to use checksums |
a6bea7b6d938a8711958a5ee6a9029fb188c2bcaf89cb54b517dbc3ec735feb9
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp311-cp311-win_amd64.whl
| Download URL | ipctk-1.6.1-cp311-cp311-win_amd64.whl |
|---|---|
| Size | 2.1 MB |
| Tags | CPython 3.11 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
51241999edc5be4ee8549490b2936d11afc14821930b954c08d6930c20e40790
|
|
BLAKE2b-256 checksum How to use checksums |
4425be42b459a3a0490a067bd45b91fa40429e6f46daa896a7f95fd2d4471483
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | ipctk-1.6.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 2.9 MB |
| Tags | CPython 3.11 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
8a490beb4dc9b464c593d2a578e2fc88c44f50e85ce1e6d17a3a7a2fdb21e570
|
|
BLAKE2b-256 checksum How to use checksums |
db8ab88284e2ec351c854de6e7e69bb2eaff6680df152fd55738ce2ef9e3a716
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp311-cp311-macosx_11_0_arm64.whl
| Download URL | ipctk-1.6.1-cp311-cp311-macosx_11_0_arm64.whl |
|---|---|
| Size | 2.2 MB |
| Tags | CPython 3.11 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
21b0019251c2ede2393193168dbd6150c7000af4435266321e81f8512619d1e9
|
|
BLAKE2b-256 checksum How to use checksums |
5875803e6691b5ea4c9ebd4fa37448ccfeb044f2acffb24aa8fb8dc0ce392cec
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp310-cp310-win_amd64.whl
| Download URL | ipctk-1.6.1-cp310-cp310-win_amd64.whl |
|---|---|
| Size | 2.1 MB |
| Tags | CPython 3.10 Windows x86-64 |
|
SHA-256 checksum How to use checksums |
b2fdb923980ea6e1b97b37d883787c0d8a6c07ccaaa66cd963eb3b67522b5456
|
|
BLAKE2b-256 checksum How to use checksums |
ed17df72b7e465df996df884daf12ce2ee1f0a29878fdda18d9fe5c25d89bb16
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
| Download URL | ipctk-1.6.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl |
|---|---|
| Size | 2.9 MB |
| Tags | CPython 3.10 Linux glibc 2.27+ x86-64 Linux glibc 2.28+ x86-64 |
|
SHA-256 checksum How to use checksums |
1ca75613ba0368ce771f52740624bc7520cbcac187a5b742c52101b4b9fc87de
|
|
BLAKE2b-256 checksum How to use checksums |
903099e95f498943bea0023b6062d21b1dc15da38ba63f74ca0f8bdc95a4fe14
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logRelease files / ipctk-1.6.1-cp310-cp310-macosx_11_0_arm64.whl
| Download URL | ipctk-1.6.1-cp310-cp310-macosx_11_0_arm64.whl |
|---|---|
| Size | 2.2 MB |
| Tags | CPython 3.10 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
ee2e1cb8fd67e28c930cffdfc139f2b3e3b0374521ee5f2b85e5c2172ac74688
|
|
BLAKE2b-256 checksum How to use checksums |
6758b995572bb59b4740ec09429648e64521bfefcb4fc161e536a5a96603f57e
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
Yes |
| Uploaded via |
twine/6.1.0 CPython/3.13.13
|
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logSecurity for ipctk 1.6.1
Provenance
Provenance describes where a file came from. On PyPI, provenance is shared via attestations, which provide a verifiable record of the build or publishing details. View details, limitations and caveats.
Full provenance
All 16 files in this release have been uploaded with provenance metadata.
Attestation for ipctk-1.6.1.tar.gz
PyPI Publish Attestation
PyPI verified that this artifact, at this checksum, originated from the publisher listed below.
Signed by GitHub Actions, verified by PyPI on Oct 22, 2026.
Transparency logA note on package security
PyPI is a repository for distributing packages, not a service for auditing them. While third-party security researchers and our staff do their best to detect and remove malicious packages, PyPI cannot guarantee the quality, security or suitability of any given package.
To learn more about protecting yourself from malicious actors, visit our package security documentation.
