v0.4.0

0.4.0 - 2025-10-12

💥 BREAKING CHANGES

• jax: add active material models and enhance optimization infrastructure - (518ee0b)
• sim: add dirichlet conditions, geometry handling, and model building - (0d8388e)
• sim: improve simulation components - (46593af)
• sim: simplify actor API and rename DOF/Dirichlet properties - (bc99c4a)
• sim: restructure core components for performance - (292835f)
• state: simplify state updates and container implementations - (f007af5)
• struct: replace equinox-based PyTree with attrs-based implementation - (d25aaba)
• struct: migrate to Equinox PyTree system - (a5e4888)
• add Phace energy model and rename point data array - (d03be25)

✨ Features

• experiments: add dynamic and static simulation examples - (262646e)
• inverse: Add inverse physics solver with Warp and lineax integration - (cc8ebbb)
• inverse-simulation: enhance inverse muscle simulation with Phace energy model - (8cf739b)
• jax: add PNCG optimizer and autodiff utilities - (bb5a51e)
• jax/optim: add modular minimization framework with SciPy backend - (72ae94b)
• jax/sim/energy: Add Koiter thin shell energy model - (e8175e3)
• phace: add close-mouth and wind simulation examples - (eb5bfdb)
• phace: add open-mouth jaw animation example - (5dfa5e3)
• sim: Add activation utility functions for JAX energy models - (ae26615)
• sim: add Hessian computation support for energy models - (cb1ea7f)
• sim: integrate Warp backend for simulation - (eaff9b9)
• sim: introduce active ARAP energy model and Dirichlet builder - (af97357)
• sim: add inter-collision example and improvements - (231d509)
• simulation: add ball-head collision example with visualization support - (9550bf2)
• struct: add mutable tree variants - (5ed48f6)
• warp: add simulation energy infrastructure and ARAP model - (24abf6a)
• warp: add matrix decomposition functions and update warp dependency - (6a5b2a9)
• warp/sim/energy: add active ARAP and passive PHACE energy models - (f56d137)
• Add JAX-based simulation framework and mathematical documentation - (d63a206)
• Add JAX-based simulation core with math utilities and type definitions - (36d26fa)
• Implement phace active and passive energy models - (294f454)

🐛 Bug Fixes

• data: update md5 hashes and sizes for input and target VTU files - (e1b9558)
• jax: Correct activation transformation and add relative energy to PNCG - (0cf40cc)
• jax/math/rotation: correct sign handling in SVD-based rotation computation - (76eea15)
• uv.lock: update simplejson source URLs and wheel paths - (d5b3ce3)
• warp: properly convert numpy arrays with matrix/vector dtypes - (5586617)
• warp: correct Hessian operations and add comprehensive tests - (11588aa)

⬆️ Dependencies

• deps: update dependency beartype to >=0.22,<0.23 (#55) - (40e7a51)
• deps: update dependency jax to >=0.7,<0.8 (#49) - (05e9451)
• deps: update and simplify dependencies - (dcbc065)

📝 Documentation

• README: update banner and badge links - (ac14a00)
• readme: update socialify badge with transparent pattern - (0339381)

♻ Code Refactoring

• examples: clean up dynamics examples - (6b29fa8)
• jax: move tree utilities to jax.tree module - (38966d1)
• sim: simplify DOFs and attribute access - (e5fee29)
• warp: improve type flexibility and add utility functions - (c9d66c6)
• Update dependencies and refactor pytree registration - (d685f16)
• refactor code structure and remove redundant changes - (3380053)

✅ Tests

• benchmark: Add volume aggregation benchmarks for Warp and JAX - (4631a1e)
• optim: add tests for MinimizerScipy and refactor Objective partial method - (5eb4ac3)
• disable JIT in scipy minimizer tests and adjust tolerances - (fdc27be)