Multi-Physics Simulation and Control System

This repository contains the plant-facing simulation node of the Industrial Edge Labs stack. It runs a deterministic mass-spring-damper model, consumes the canonical FsmPayload contract used by the control layer, and stays aligned with the generated RK4 artifacts produced by Symbolic-to-Numeric Computation Pipeline.

Role In The System

• Consumes the canonical FsmPayload contract emitted by the control layer.
• Uses the same FastRK4.hpp solver shape generated by Symbolic-to-Numeric Computation Pipeline.
• Produces deterministic CSV telemetry for local analysis and dashboard experiments.

Build Modes

Portable build

cmake -S . -B build-default
cmake --build build-default --config Release

ZeroMQ-enabled integration build

cmake -S . -B build -DMPCS_ENABLE_ZEROMQ=ON
cmake --build build --config Release

Runtime

./build-default/Release/physics_engine --dry-run --ticks 2000 --target-hz 1000

./build/Release/physics_engine --target-hz 1000 --fsm-endpoint tcp://127.0.0.1:5556

Local Utilities

python main.py
python plot_results.py

Notes

• The default build is portable and does not require ZeroMQ.
• The runtime writes simulation_results.csv with deterministic columns for position, velocity, force, and FSM state.
• The current control-plane integration still relies on the canonical FsmPayload contract while the downstream plant bus remains under active evolution.
• The external documentation for this node lives in docs-Industrial-Edge-Labs/multi-physics-simulation-and-control-system.