DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contact

Cloth simulation has wide applications in computer animation, garment design, and robot-assisted dressing. This work presents a differentiable cloth simulator whose additional gradient information facilitates cloth-related applications. Our extends state-of-the-art based on Projective Dynamics (PD) with dry frictional contact. We draw inspiration from previous to propose fast novel method for deriving gradients PD-based Furthermore, we conduct comprehensive analysis evaluation of the usefulness contact-rich simulation. Finally, demonstrate efficacy our number downstream applications, including system identification, trajectory optimization assisted dressing, closed-loop control, inverse real-to-sim transfer. observe substantial speedup obtained using solving most these