We demonstrate a variety of solvers within the framework and their interactions, including FLIPstyle liquids, spatially adaptive volumetric fluids, SPH, MPM, and mesh-based solids, including but not limited to discrete elastic rods, elastons, and FEM with state-of-the-art constitutive models. Distribution over MPI, custom linear equation solvers, and aggressive application of sparse techniques keep performance within production requirements. We also provide a consistent treatment for components used in several domains, such as unified collision and attachment constraints across 1D, 2D, 3D deforming and rigid objects. This leads to intuitive setups for coupled simulations such as hair in the wind or objects transitioning from one representation to another, for example bulk water FLIP particles to SPH spray particles to volumetric mist. Loki adapts multiple best-in-class solvers into a unified framework driven by a declarative state machine where users declare 'what' is simulated but not 'when,' so an automatic scheduling system takes care of mixing any combination of objects. We introduce Loki, a new framework for robust simulation of fluid, rigid, and deformable objects with non-compromising fidelity on any single element, and capabilities for coupling and representation transitions across multiple elements.
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