simbody
https://github.com/simbody/simbody
C++
High-performance C++ multibody dynamics/physics library for simulating articulated biomechanical and mechanical systems like vehicles, robots, and the human skeleton.
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- Issues
- Use CMAKE_CXX_STANDARD (wait till CMake 3.1)
- With MSVC and user-supplied lapack/blas, Simbody should package up the user-supplied libs
- Matrix_<T> serialization and I/O Doxygen is copied from Vector
- Prescribed accelerations should be known by Velocity stage
- optimizer limits should restrict differentiator perturbations
- VisualizerGeometry does not support all DecorativeGeometry subclasses
- Get rid of Ancestor bodies for constraint calculations
- Screw mobilizer should allow runtime pitch change & similarly for other elements
- Need to be able to add/remove state variables on the fly
- Need unilateral witness functions for contact
- Docs
- C++ not yet supported