VirtualPhysics
the realtime dynamics simulation library
v0.90
Overview
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VirtualPhysics is a free C++ library for realtime multi-body dynamics simulation. Dynamics simulation can be used in wide area of mechanical engineering, computer graphics animation, virtual reality and more. VirtualPhysics is designed for simulating behaviors of articulated rigid body systems in realtime. Using Virtual Physics, programmers can easily implement simulation based applications with moderate understanding of related physics and mathematics.
Features of VirtualPhysics
- Realtime : VirtualPhysics uses Lie Group recursive dynamics algorithms. It is fast and stable enough for realtime applications such as an adaptive controller for robotic systems, interactive games and VR contents.
- User defined joint : You can design your own joint to constrain rigid bodies. For example, you can define a curvy prismatic joint to model a roller coaster rail.
- Collision detection and response : VirtualPhysics separates collision detection and response. If you have your own collision detection module, VirtualPhysics can easily cooperate with your module to make a collision response. A built-in collision detection module supports collision between a few kinds of primitive geometries such as box, sphere and cylinder. Collision response in VirtualPhysics can handle multiple impulsive collision and resting contact under frictional conditions.
- Joint limit : VirtualPhysics resolves joint limit in a collision-like manner. If a joint limit is defined with a coefficient of restitution, the angle will not only be restricted in its limit, but also the generated behavior is physically reasonable.
- Object oriented data structures : Programmers familiar with C++ and object orientation can easily understand, modify and improve data structures of VirtualPhysics.
- Runs on various platforms such as win32, Linux, Sun OS and IRIX.
Acknowledgement
VirtualPhysics was developed as part of the project entitled "Development of Real-time Physics Simulation Engine for e-Entertainments" which was financially supported by the grant from the strategic technology development program (Project No. 2008-F-033-02) of both the MKE(Ministry of Knowledge Economy) and MCST(Ministry of Culture, Sports and Tourism) of Korea.
