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
- ParallelExecutor executes in multiple threads when it should not, causes access to invalid TLS
- Top Spinner Example (demo of Ball mobilizer showing precession and nutation)
- Some examples segfault when compiled without the NDEBUG flag
- Test template in one header
- Ubuntu 16.04 simbody-visualizer ExamplePendulum error
- Use CMake's ${CMAKE_CURRENT_SOURCE_DIR} instead
- Allow tweaking optimizer parameters in Assembler class
- Support variable mass properties
- Simbody Visualizer should have writeImage()/saveImage() exposed in API; also an option for transparent backgrounds
- Different behaviour when using simbody RelWithDebInfo vs Release 3.7
- Docs
- C++ not yet supported