tiny-differentiable-simulator VS setup-msys2

I need differentiable rigid body dynamics because I want to do nonlinear MPC. One library that can do this is C++ is Tiny Differentiable Simulator https://github.com/erwincoumans/tiny-differentiable-simulator. As I understand it, this software uses a C++ auto-diff library and code generation to create CUDA kernels to compute fast derivatives in parallel. This seems pretty fast because it's C++. Another option is Brax https://github.com/google/brax. Brax uses JAX which I've never used, but from what I've seen online, JAX is popular for researchers and probably very good.

https://github.com/google-research/tiny-differentiable-simul...

Yes, Chrome about://tracing is great to visualize your custom timing data. Happy used for the last 5 years in Bullet and recent physics engines, including events across tracing multiple threads:

https://github.com/google-research/tiny-differentiable-simul...

Or our C++ and CUDA Tiny Differentiable Simulator: https://github.com/google-research/tiny-differentiable-simulator

Drake (and also tiny-differentiable-simulator that I know of) are using meshcat and it seems neat to me

Other pages provide complementary information on that same topic.

Another thing I appreciated was the explanation of MSYS2's environments:

https://www.msys2.org/docs/environments/

Being able to painlessly switch away from MSVCRT to UCRT was helpful in solving some UTF-8 difficulties I was experiencing at the time.

Package management with pacman is rather pleasant, and the setup-msys2 GitHub Action makes it simple to provide your GHA workflow with the tools and libs you want:

https://www.msys2.org/docs/package-management/

https://packages.msys2.org/queue

https://github.com/msys2/setup-msys2

> Actions reduce workflow steps by providing reusabe[sic] “code” for common tasks. To run an action, you include the uses keyword pointing to a GitHub repo with the pattern {owner}/{repo}@{ref} or {owner}/{repo}/{path}@{ref} if it’s in a subdirectory. A ref can be a branch, tag, or SHA.

Aside from the typo, I wonder how many packages could be backdoored at once, if an action maintainer went rogue, seeing as there's no pinning for actions by default, and (according to https://github.com/msys2/setup-msys2/blob/main/HACKING.md) moving a tag is the default way to push updates to an action. (Interestingly get-cmake/run-cmake/run-vcpkg are all operated by the same person.)