Design (Next)

Info

• The overhead of some seemingly simple operations are not negligible in a fast loop. For example:
  • jax.tree.flatten() before each call to a JIT compiled function
  • Creating new eqx.Module instances using dataclasses.replace() or eqx.tree_at()
• attrs is much faster (~100x) than eqx.Module when creating new instances.

References

• Newton Physics - An open-source, GPU-accelerated physics simulation engine built upon NVIDIA Warp, specifically targeting roboticists and simulation researchers.
• PNCG - Preconditioned Nonlinear Conjugate Gradient Method for Real-time Interior-point Hyperelasticity