superdex-atlas 固定版本源码入口#

Course text is primarily Chinese, with English terminology and summaries. The original content is preserved.

阅读基线：1d7150946fa3f3d3fb09c2bff07eaa138cbfdee6。以下入口已核对官方 Git 树与文件内容身份；不是全仓审查或运行验收记录。

本阶段先理解引擎架构、建模、步进、控制、接触/求解、传感器/渲染、性能与扩展。独立实验、基准、训练和评分暂不开展，后续复用 DexLab。

源码文件	阅读目的
README.md	核对对象职责、数据布局、参数与版本约定
superdex_physics/examples/example_rigid_bodies.py	理解官方最小使用顺序；本轮不执行
superdex_physics/examples/example_state_capture_restore.py	理解官方最小使用顺序；本轮不执行
superdex_robotics/src/controllers/controller_basic_jsc_pd.cpp	核对对象职责、数据布局、参数与版本约定
superdex_robotics/src/sensors/camera_sensor.cpp	区分传感数据、可视化与物理状态
superdex_physics/libraries/mochi/mochi_physics/src/mochi_scene.cpp	追踪构建、步进、数据更新与生命周期
superdex_physics/libraries/mochi/mochi_physics/include/mochi_physics/cpp_api/mochi_scene.h	追踪构建、步进、数据更新与生命周期
superdex_physics/libraries/mochi/mochi_physics/src/mochi_integration.cpp	核对对象职责、数据布局、参数与版本约定
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/integration/integration_params.h	核对对象职责、数据布局、参数与版本约定
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/solvers/newton_solver_params.h	识别算法、输入状态、配置与限制
superdex_physics/libraries/mochi/mochi_core/src/solvers/newton_solver.cpp	识别算法、输入状态、配置与限制
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/contact/contact_params.h	区分接触几何、接触律与数值近似

E1 建模、状态与时间追踪#

对应专题与验证记录。以下新增文件已按固定 Git 树核对 blob；阅读不等于运行验收。

源码文件	E1 阅读目的
superdex_physics/libraries/mochi/mochi_physics/include/mochi_physics/cpp_api/mochi_actor.h	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_physics/include/mochi_physics/cpp_api/mochi_structs.h	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_physics/src/mochi_actor.cpp	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_physics/pybind/stubs/public/mochi_physics/init.pyi	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/utils/quaternion.h	旋转次序、单位与 frame 转换
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/utils/transform_rt_inl.h	旋转次序、单位与 frame 转换
superdex_physics/libraries/mochi/mochi_physics/pybind/src/generated/mochi_physics_pybind_actor.generated.cpp	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_physics/pybind/src/generated/mochi_physics_pybind_scene.generated.cpp	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_physics/pybind/src/pybind_nd_array.h	Python 值、借用视图及输出缓冲
superdex_physics/libraries/mochi/mochi_physics/pybind/src/pybind_span.h	Python 值、借用视图及输出缓冲
superdex_python/superdex/physics/utils/coordinate_systems.py	旋转次序、单位与 frame 转换
superdex_robotics/examples/basic/example_urdf_loading.py	导入变换、资产与 runtime 能力限制
superdex_robotics/src/utils/urdf_import_utils.cpp	导入变换、资产与 runtime 能力限制
superdex_robotics/pybind/stubs/public/superdex_robotics/init.pyi	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/integration/integration_utils.h	时间离散、积分历史及外部状态改写
superdex_python/superdex/physics/init.py	进程精度选择与 native payload 校验
superdex_physics/libraries/mochi/mochi_physics/src/mochi_capture.cpp	状态捕获标记、拓扑与构建兼容边界
superdex_physics/libraries/mochi/mochi_physics/src/mochi_common_components.h	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_physics/src/mochi_rigid.h	原生字段、API 维度与生命周期
superdex_physics/libraries/mochi/mochi_physics/src/mochi_simulation.cpp	时间离散、积分历史及外部状态改写
superdex_python/superdex/physics/loader.py	进程精度选择与 native payload 校验
superdex_python/superdex/physics/environment.py	进程精度选择与 native payload 校验
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/utils/rigid_body_utils.h	rigid pose 与 DoF 转换、空间速度表示

E2 驱动、机器人与任务接口#

对应专题和验证记录。新增源码均按同一固定 Git tree 核对文件身份；控制器/IK 行为结论另按专题列出的函数阅读。

源码文件	E2 阅读目的
superdex_robotics/include/superdex_robotics/superdex_robotics.h	Bot prefab 字段与 effortLimit 建议语义
superdex_robotics/src/bot_impl.cpp	Bot 创建与组件生命周期如何连接 Physics actor
superdex_robotics/src/controllers/controller_basic_osc_pd.cpp	Jacobian转置控制、参考系与effort归一化
superdex_robotics/src/controllers/controller_mochi_articulated_pose.cpp	隐式pose目标、root与非root DoF映射、reset
superdex_robotics/include/superdex_robotics/controllers/controller_basic_jsc_pd.h	关节PD、目标差分、deadband、输出限幅
superdex_robotics/include/superdex_robotics/controllers/controller_basic_osc_pd.h	Jacobian转置控制、参考系与effort归一化
superdex_robotics/include/superdex_robotics/controllers/controller_mochi_articulated_pose.h	隐式pose目标、root与非root DoF映射、reset
superdex_robotics/include/superdex_robotics/controllers/controller_base.h	controller 的参数、reset 与输出契约
superdex_robotics/include/superdex_robotics/actuators/actuator_base.h	ActuatorBase 生命周期和应用扩展边界
superdex_robotics/src/actuators/actuator_base.cpp	actuator 基础实现；不据此推断内建驱动模型
superdex_robotics/examples/control/example_jsc_control.py	关节PD、目标差分、deadband、输出限幅
superdex_robotics/examples/control/example_ik_pose_control.py	独立IK场景所有权、目标与收敛判据
superdex_robotics/examples/control/example_osc_control.py	Jacobian转置控制、参考系与effort归一化
superdex_robotics/examples/advanced/example_custom_components.py	注册契约与应用负责的闭环调度
superdex_robotics/src/core/context.cpp	公开内建组件注册与内部构建分支
superdex_robotics/src/mochi_bots.cpp	prefab 创建、Physics articulation 与 Robotics Bot 连接
superdex_physics/libraries/mochi/mochi_physics/src/mochi_articulated_body.cpp	FK派生状态、Jacobian构造与数据布局
superdex_robotics/pybind/stubs/public/superdex_robotics/bots/init.pyi	Python 原生类型、构造参数与返回值核对
superdex_robotics/include/superdex_robotics/utils/bot_utils.h	机器人DoF映射、限额元数据与模型构建
superdex_robotics/src/utils/bot_utils.cpp	机器人DoF映射、限额元数据与模型构建
superdex_physics/libraries/mochi/mochi_physics/src/mochi_ik.cpp	独立IK场景所有权、目标与收敛判据
superdex_physics/libraries/mochi/mochi_physics/include/mochi_physics/mochi_physics_experimental.h	IK/transmission/actuator 参数与实验性 API 契约
superdex_robotics/superdex/robotics/init.py	用户 superdex.robotics 入口与内部 bots 模块转发
superdex_physics/libraries/mochi/mochi_physics/src/mochi_transmission.cpp	Physics transmission 状态与 actuator 装配
superdex_physics/libraries/mochi/mochi_physics/src/mochi_articulated_body.h	FK派生状态、Jacobian构造与数据布局
superdex_physics/libraries/mochi/mochi_physics/pybind/src/generated/mochi_physics_pybind_experimental.generated.cpp	experimental Python 函数的精确名称与参数
superdex_physics/libraries/mochi/mochi_core/src/articulated_body/articulated_body.cpp	FK派生状态、Jacobian构造与数据布局

E3 接触、求解器与力观测#

对应专题与验证记录。本章继续使用既有 Scene/Actor、积分和 Newton 源码；下表是新增的固定源码入口。下载内容已按 Git blob 核对，未运行引擎。

源码文件	E3 阅读目的
superdex_physics/examples/example_contact_filtering.py	层与 actor 双重过滤、检测方向及 nested actors 参数
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/contact/contact_params_inl.h	接触参数构造与 threshold padding 计算
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/contact/contact_types.h	SDF 值/梯度、碰撞结果与坐标约定
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/contact/contact_utils.h	法向 penalty、Coulomb/viscous/normal damping 与导数近似
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/solvers/krylov_solver.h	线性迭代预算及实际 Krylov 参数
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/solvers/line_search.h	ResidualNorm、Armijo、Wolfe 的原生接受路径
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/solvers/linear_solver.h	原生线性分派、stop norm 与 recycling 接口
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/solvers/linear_solver_params.h	CG/GMRES/MINRES/直接分解、norm、预条件器与构建条件
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/solvers/newton_solver_status.h	内部 residual、iteration、stop reason 与收敛状态
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/solvers/nonlinear_solver_params.h	Newton/BFGS/SR1、停止条件、加权 convergence 与 EW strategy
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/solvers/snle_problem_inl.h	残差视图与装配缓存失效契约
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/utils/activations.h	PolyReLU、IPC C1 与 C-infinity 的精确多项式/平滑公式
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/utils/eval_params.h	显式法向、耗散 normal force、fitted Hessian 的数学限制
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/utils/eval_params_inl.h	fitted saturation Hessian 的聚合开关
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/utils/rigid_body_assembly.h	merit-based 与 Newton–Euler 惯性分支、近似 Hessian
superdex_physics/libraries/mochi/mochi_core/src/contact/contact_utils.cpp	mesh/SDF 距离查询与检测几何辅助实现
superdex_physics/libraries/mochi/mochi_physics/src/mochi_actor_convergence.cpp	惯性与特征负荷加权 residual，零惯性 fallback
superdex_physics/libraries/mochi/mochi_physics/src/mochi_contact.cpp	候选 pair、contact assembly、world force 查询和 CoR 拟合
superdex_physics/libraries/mochi/mochi_physics/src/mochi_contact.h	检测方向、采样权重、CombineContactParams 与低维尺度修正
superdex_physics/libraries/mochi/mochi_physics/src/mochi_contact_filter.cpp	过滤表更新与 actor/layer 生命周期
superdex_physics/libraries/mochi/mochi_physics/src/mochi_contact_filter.h	layer 与 actor 过滤相与、方向性和缺省允许规则
superdex_physics/libraries/mochi/mochi_physics/src/mochi_island.cpp	候选耦合、island 分组和全局 DoF 分配
superdex_physics/libraries/mochi/mochi_physics/src/mochi_point_cloud_contact.cpp	点云距离、空间 hash、radius 与 self-contact 邻居
superdex_physics/libraries/mochi/mochi_physics/src/mochi_query.cpp	接触 query 注册、支持条件和即时计算限制
superdex_physics/libraries/mochi/mochi_physics/src/mochi_rigid.cpp	刚体惯性/接触装配、stage 速度恢复与发散回退
superdex_physics/libraries/mochi/mochi_physics/src/mochi_solve.cpp	island 装配、隐式 stages、BDF 冷启动和状态分发
superdex_physics/libraries/mochi/mochi_physics/src/mochi_step.cpp	pre-step、分岛、正时间 solve 与零步 query 刷新边界

E4 传感器、渲染与可视化#

对应专题与验证记录。继续复用既有 Actor/query、Robotics stub 和注册路径；新增文件按固定 Git tree 核对 blob。下表没有运行验收含义。

源码文件	E4 阅读目的
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/geometry/ray.h	C++ RayCast、参数 t 与 primitive index；不是 Scene sensor
superdex_physics/libraries/mochi/mochi_core/src/geometry/ray.cpp	AABB/triangle/BVH 交点及最近命中实现
superdex_physics/libraries/mochi/mochi_renderer/CMakeLists.txt	Mochi renderer 的原生构建依赖
superdex_physics/libraries/mochi/mochi_renderer/include/mochi_renderer/camera.h	ObservationCamera 原生接口与缓存所有权
superdex_physics/libraries/mochi/mochi_renderer/include/mochi_renderer/mochi_renderer.h	窗口 presentation 与离屏 observation 的职责边界
superdex_physics/libraries/mochi/mochi_renderer/include/mochi_renderer/render_space.h	固定资产 FUR 兼容坐标，不等于 camera frame
superdex_physics/libraries/mochi/mochi_renderer/include/mochi_renderer/types.h	RGBA8-only、RenderResult、流水线和畸变参数契约
superdex_physics/libraries/mochi/mochi_renderer/materials/Distortion.mat	五参数采样公式、输出到源纹理的方向与边界填黑
superdex_physics/libraries/mochi/mochi_renderer/src/camera.cpp	投影、畸变、RGBA readback、三种流水线与异步 flush
superdex_physics/libraries/mochi/mochi_renderer/src/mochi_renderer.cpp	后端选择、顶层 async 阻塞和资源析构顺序
superdex_physics/libraries/mochi/mochi_renderer/src/offscreen_render_target.cpp	RGBA8 BLIT_SRC 与内部 DEPTH32F attachment
superdex_physics/libraries/mochi/mochi_renderer/src/view_settings.cpp	后处理、曝光、tone mapping 和 sRGB 输出
superdex_physics/libraries/mochi/mochi_renderer/test/mochi_renderer_headless_test.cpp	现有测试覆盖范围，不据测试名字宣称运行成功
superdex_physics/libraries/mochi/third_party/filament/CMakeLists.txt	固定 vendored Filament 身份
superdex_python/pyproject.toml	Python viewer 依赖声明；不同于 UE/plugin 版本
superdex_python/superdex/physics/debugger.py	独立 debugger 启动、连接、暂停与清理边界
superdex_python/superdex/physics/viewer/backend.py	Polyscope 可选依赖和兼容标志，不冒充设备资格
superdex_python/superdex/physics/viewer/mochi_renderer/mochi_renderer_client.py	TCP 二进制协议、连接与阻塞 I/O 边界
superdex_python/superdex/physics/viewer/mochi_renderer/mochi_renderer_viewer.py	同步几何与 lit 请求、RGBA 解码、no-op 和 close
superdex_python/superdex/physics/viewer/mochi_renderer/mochi_renderer_viewer_cfg.py	named camera、horizontal FOV 和视觉资产映射
superdex_python/superdex/physics/viewer/unrealcv/unrealcv_client.py	depth/mask 是文本请求；颜色解码不能证明宿主深度契约
superdex_python/superdex/physics/viewer/unrealcv/unrealcv_image.py	lit BGR(A) 到 RGB 的复制和通道转换
superdex_python/superdex/physics/viewer/unrealcv/unrealcv_viewer.py	UE 帧延迟、同步请求、轴/单位转换与宿主生命周期
superdex_python/superdex/physics/viewer/unrealcv/unrealcv_viewer_cfg.py	PIPELINED 默认和 meters_to_cm 配置
superdex_python/superdex/physics/viewer/viewer.py	Polyscope GUI/offscreen、暂停循环、截图和资源生命周期
superdex_python/superdex/physics/viewer/viewer_cfg.py	Polyscope 配置尺寸、坐标和 backend
superdex_robotics/include/superdex_robotics/sensors/camera_sensor.h	Camera 仅保存参数、无 ComputeSignal、reset 无内部图像状态
superdex_robotics/include/superdex_robotics/sensors/sensor_base.h	父级/世界安装变换与 actor-less 语义
superdex_robotics/src/sensors/sensor_base.cpp	原生 worldFromActor × parentFromSensor 的精确组合
superdex_studio/README.md	Studio GPU/display、资产工具及 wheel 布局
superdex_studio/run_studio_linux_headless.sh	Xvfb + 内部 Buck 的实际脚本边界
superdex_studio/src/rendering/renderer.cpp	Studio RGBA 读回与 selection overlay，非语义 mask
superdex_studio/src/rendering/scene_stage.cpp	Studio 视觉资产、变换与 scene stage 同步
superdex_studio/src/rendering/viewport.cpp	Studio editor→renderer 相机位置/方向转换
uv.lock	Polyscope 2.5.0 / Python unrealcv 1.2.0 依赖身份

外部参考依赖另固定 nmwsharp/polyscope-py@8aa43f5d65d9ef54a415451c7caeebb4c0b6fde7（v2.5.0，与上述 lock 版本对应）：Python 截图封装、C++ binding、MIT license。确认 RGBA shape、byte dtype 与默认翻转；不证明本机安装包或设备输出。sources.json.external_sources 独立记录 path/blob；没有复制第三方代码进本仓。

继续沿 Polyscope Python 的 .gitmodules 与 deps/polyscope gitlink 固定 core b1f5ae82488b82d91a61d7d8c81882989216056d：原生截图契约、绘制/读回实现。其 RGBA 字节顺序和“截图先绘制”的语义同样来自固定源文件，两个外部仓各自收录 manifest。

E5 批量、学习与数据追踪#

对应专题与验收。下表为新增的固定 SuperDex 源文件；复用的 Physics API、Scene.step、linear_solver.h 与 uv.lock 见前表。原生例子/测试/学习脚本均未执行。

源码	阅读目的
superdex_lab/README.md	Lab职责与资产不随wheel打包
superdex_lab/apps/envs/run_with_gymnasium_vectorization.py	官方原生vector例子与按逻辑环境传seed，未运行
superdex_lab/apps/envs/sample_runner.py	交互/策略/可选视频样例，不是完整回放契约
superdex_lab/apps/envs/utils/dataset.py	LeRobot/Torch应用依赖、固定Actor ID与task-specific HDF解析
superdex_lab/apps/rllib/checkpoint_policy.py	module/connector恢复、normalizer/动作变换与降级分支
superdex_lab/apps/rllib/train_samples.py	环境配置与recipe分离、RLlib外部学习边界
superdex_lab/pyproject.toml	Lab/Python/核心依赖身份
superdex_lab/superdex/lab/gym/envs/benchmarks/cartpole_env.py	字段单位、动作缩放、奖励、终止/截断与共享key
superdex_lab/superdex/lab/gym/envs/mochi_env.py	reset/dummy step、控制子步、缓存、共享状态、render/close 与 profiler
superdex_lab/superdex/lab/gym/envs/scene_manager.py	共享命名键、refcount、cleanup失败与原生资源释放
superdex_lab/superdex/lab/gym/envs/types.py	原生Lab结构化/扁平返回契约
superdex_lab/superdex/lab/gym/utils/mochi_helpers.py	原生缓冲到NumPy copy、资产和Bot生命周期
superdex_lab/superdex/lab/gym/utils/train_cfg.py	RLlib应用参数与SAC实验性边界
superdex_lab/superdex/lab/gym/utils/vector.py	两级vector、spawn、seed切片、Box reshape、info masks
superdex_lab/test/envs/test_scene_sharing.py	共享/独立、顺序step及创建者先关闭测试意图，未运行
superdex_lab/test/utils/test_vector.py	形状/seed长度/reset-mask/spawn测试意图，未运行
superdex_physics/examples/example_cross_thread_capture_restore.py	各线程独立Scene及复制字节状态，未运行
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/linear_algebra/cuda/cuda_api.h	原生CUDA copy/分配接口
superdex_physics/libraries/mochi/mochi_core/src/linear_algebra/cuda/cuda_api.cpp	cudaMemcpy及线程局部CUDA handle
superdex_physics/libraries/mochi/mochi_core/src/linear_algebra/cuda/cuda_csr_matrix.cpp	CSR设备描述符与float/double类型
superdex_physics/libraries/mochi/mochi_core/src/linear_algebra/cuda/cuda_pcg.cpp	GPU线性子问题中的拷贝与同步
superdex_physics/libraries/mochi/mochi_physics/pybind/stubs/public/mochi_physics/diffsim/init.pyi	Physics diffsim逐步求导与兼容限制，未接成Gym autograd
superdex_physics/libraries/mochi/mochi_physics/src/mochi_scene_recorder.cpp	事件、字段、post-step写入、重建信息缺口与写错误
superdex_physics/libraries/mochi/mochi_physics/src/mochi_scene_recorder.h	录制相对时间初值、错误状态及entry生命周期

外部 Gymnasium 1.3.0 的 commit 单独固定，与本章原生核心身份分开；仅解释依赖契约。

外部源码	阅读目的
LICENSE	MIT 许可归属
gymnasium/core.py	Env reset RNG 与终止/截断契约
gymnasium/spaces/dict.py	普通mapping排序与space RNG
gymnasium/spaces/utils.py	flatten dtype/顺序/拷贝
gymnasium/vector/async_vector_env.py	父进程dummy、spawn/共享CPU buffer、seed与等待
gymnasium/vector/sync_vector_env.py	内层串行、seed展开与三种autoreset
gymnasium/vector/vector_env.py	VectorEnv/VectorWrapper与info有效掩码

E6 特色Actor、可微求解与能力边界#

对应专题与验收。复用既有Scene/Actor/articulated/diffsim stub；新增文件均按官方固定Git tree/blob核对。测试、模型、构建与梯度例子都未执行，没有新增外部实现依赖。

固定源码	阅读目的
superdex_physics/examples/example_articulations_soft_skinned_double_pendulum.py	骨架/软组织配置与frame原生例，未执行
superdex_physics/examples/example_mass_on_rod_spring.py	rod材料量纲与node/rotation约束原生例，未执行
superdex_physics/examples/example_soft_duck.py	普通soft与rigid collider最小原生例，未执行
superdex_physics/examples/example_tendon_comparison.py	rod/spatial tendon/linear transmission差异，未执行
superdex_physics/examples/example_tshirt_on_plane.py	shell转换/PointCloud self-contact原生例，未执行
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/materials/batched_materials.h	多个本构实现并存，区分元素SIMD与环境batch
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/materials/linear_elastic_params.h	线弹性材料参数/策略身份
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/materials/smith_neo_hookean_params.h	Smith参数与适用PSD策略
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/mochi_config.h	real精度、CUDA/内部feature编译配置
superdex_physics/libraries/mochi/mochi_core/src/materials/batched_linear_elastic.cpp	小应变能量、应力与切线实现
superdex_physics/libraries/mochi/mochi_core/src/materials/batched_smith_neo_hookean.cpp	公开NeoHookean所用Smith能量及PSD路径，与alias/factory联读
superdex_physics/libraries/mochi/mochi_core/src/materials/material_params_utils.cpp	材料/密度/PSD/active字段验证
superdex_physics/libraries/mochi/mochi_physics/CMakeLists.txt	原生source/test构建组织，未构建
superdex_physics/libraries/mochi/mochi_physics/include/mochi_physics/mochi_physics_config.h	ROM与DeepFlow feature gate及默认身份
superdex_physics/libraries/mochi/mochi_physics/private/diffsim/include/mochi_physics/diffsim/mochi_diffsim.h	原生C++ diffsim接口
superdex_physics/libraries/mochi/mochi_physics/private/diffsim/include/mochi_physics/diffsim/mochi_diffsim_types.h	backprop专属参数/统计默认值及验证开关
superdex_physics/libraries/mochi/mochi_physics/private/diffsim/test/mochi_differentiable_functions_test.cpp	input-step-output-backward测试意图，未执行
superdex_physics/libraries/mochi/mochi_physics/private/diffsim/test/mochi_step_jacobian_test.cpp	状态/控制差分与Jacobian检查意图，未执行
superdex_physics/libraries/mochi/mochi_physics/src/mochi_deformable.cpp	deformable接触、边界条件、lumped mass与记录共享路径
superdex_physics/libraries/mochi/mochi_physics/src/mochi_differentiable.cpp	adjoint装配、中心差分HVP/Lie transport、PCG/MINRES/Newton和Jacobian路径
superdex_physics/libraries/mochi/mochi_physics/src/mochi_differentiable.h	gradient containers/derived-state/输入components
superdex_physics/libraries/mochi/mochi_physics/src/mochi_differentiable_contact.cpp	query force VJP、求积权重、sync/async角色与实际力律
superdex_physics/libraries/mochi/mochi_physics/src/mochi_rod.cpp	位移/扭转/axes状态、padding约束、材料与PointCloud支持
superdex_physics/libraries/mochi/mochi_physics/src/mochi_shell.cpp	3D参数到膜/弯曲/面密度转换及shell响应
superdex_physics/libraries/mochi/mochi_physics/src/mochi_shell_init.cpp	surface/弯曲stencil与shell初始化
superdex_physics/libraries/mochi/mochi_physics/src/mochi_soft_init.cpp	tet FEM/material覆盖/SDF map与collider支持分支
superdex_physics/libraries/mochi/mochi_physics/src/mochi_soft_rom_components.h	降阶映射、basis与状态components
superdex_physics/libraries/mochi/mochi_physics/src/mochi_soft_rom_init.cpp	ROM来源/降阶尺寸/构建与组合限制/neural deprecated分支
superdex_physics/libraries/mochi/mochi_physics/src/mochi_soft_rom_systems.cpp	J转置残差投影及约化矩阵/元素级装配
superdex_physics/libraries/mochi/mochi_physics/src/mochi_soft_skinned.cpp	骨架/soft/skin与能量组合、资源关系
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/materials/material_params.h	公开NeoHookean别名与Kelvin–Voigt阻尼定义
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/materials/batched_smith_neo_hookean.h	Smith参数类型到本构响应factory、PSD策略支持
superdex_physics/libraries/mochi/mochi_physics/src/mochi_soft.cpp	公开材料枚举到本构的分派、体积弹性/惯性/重力装配
superdex_physics/libraries/mochi/mochi_core/include/mochi_core/element_operations/fem_stress.h	求积点F/本构响应到节点残差与切线

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