champ
Bullet
champ | Bullet | |
---|---|---|
7 | 41 | |
1,421 | 11,942 | |
2.3% | 1.2% | |
0.0 | 4.5 | |
7 months ago | 25 days ago | |
C++ | C++ | |
BSD 3-clause "New" or "Revised" License | GNU General Public License v3.0 or later |
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champ
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Legged Robots in Ignition / Gazebo
Yep, its easy to implement on hardware as well, here is the wiki: https://github.com/chvmp/champ/wiki/Hardware-Integration
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The math behind rest_mode of champ
I open an issue in champ's repository but it seems not really an issue, sorry about that if champ's authors see this post. You guys can read it for obvious my problem.
- Keyboard control 4-legged robot
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Just finished wiring my robot dog but I still need to wire 2 more ultrasonic sensors. Feel free to send some suggestions on how I could hide the wires more.
Awesome that your building from scratch. Have you seen this: https://github.com/chvmp/champ
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Quadruped Made by High School Senior
I’m a senior in high school doing an independent study on robotics. I’m working on a quadruped robot I designed, built, tested in simulation, and programmed (with ROS and tons of libraries) that will soon utilize the ROS navigation stack to be autonomous. I'm using the champ ROS package for gait. (https://github.com/chvmp/champ)
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Quadruped Project / Student Looking for Internship (unpaid is ok!)
Here's a video demo of my ongoing ROS project, a quadruped robot I've created that will soon utilize the navigation stack. I'm using the champ package for generating gait.
Bullet
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Blaze: A High Performance C++ Math library
For typical game physics engines... not that much. Math libraries like Eigen or Blaze use lots of template metaprogramming techniques under the hood that can help when you're doing large batched matrix multiplications (since it can remove temporary allocations at compile-time and can also fuse operations efficiently, as well as applying various SIMD optimizations), but it doesn't really help when you need lots of small operations (with mat3 / mat4 / vec3 / quat / etc.). Typical game physics engines tend to use iterative algorithms for their solvers (Gauss-Seidel, PBD, etc...) instead of batched "matrix"-oriented ones, so you'll get less benefits out of Eigen / Blaze compared to what you typically see in deep learning / scientific computing workloads.
The codebases I've seen in many game physics engines seem to all roll their own math libraries for these stuff, or even just use SIMD (SSE / AVX) intrinsics directly. Examples: PhysX (https://github.com/NVIDIA-Omniverse/PhysX), Box2D (https://github.com/erincatto/box2d), Bullet (https://github.com/bulletphysics/bullet3)...
- Looking for specific pre-Microsoft Havok Physics SDK version (2013, 2014)
- Software for Mechanism Analysis
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Does anyone know any good open source project to optimize?
I suspect most C++ physics libraries like Box2D (https://github.com/erincatto/box2d) or Bullet3 (https://github.com/bulletphysics/bullet3) could really benefit a lot from SIMD.
- After months of work, I'm excited to share the first release of Godot Jolt, an extension that integrates the Jolt physics engine into Godot, demonstrated using GDQuest's RoboBlast
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X4's Upcoming Multiplayer Features Are a Huge Step Forward
No, they replaced Bullet with Jolt. That is considerably more than "some adjustment", regardless of what you think of the result.
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Brick Breaker
Vulkan graphics via Intel GVK, and physics via Bullet
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Ive been programming for four years and I told my dad to watch long videos and complete your own projects to learn most efficiently. He thinks he’s ready to tackle any project after a ten minute video…
The first two have a bunch of great examples, and I’m tying them together by refactoring some of the THREE examples to fit the ECS paradigm defined in AFrame. then upping the ante by adding physics using AMMO, which is more challenging since it’s only a partial implementation of Bullet, and already poorly documented (yet popular) physics engine.
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Their music is just too good
Plus, SM uses a system called bullet physics, I imagine this would be rather complex to rework into a modern engine such as Unreal or Unity (after all, the majority of performance issues come from the physics engine rather than the graphics engine)
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Is anyone working on more effecient HDT-SMP?
The physics in HDT-SMP are actually being calculated outside of Skyrim's engine with Bullet, an open-source physics engine. So this isn't some limitation of Skyrim's engine.
What are some alternatives?
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
PhysX - NVIDIA PhysX SDK
my_ROS_mobile_robot - Differential drive mobile robot using ROS.
Box2D - Box2D is a 2D physics engine for games
esp32-robot-dog-code - WIP: ESP32 powered robot dog, quadruped robot. This is just code, hardware in the other repositories
CHRONO - High-performance C++ library for multiphysics and multibody dynamics simulations
OpenCat - An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
Newton Dynamics - Newton Dynamics is an integrated solution for real time simulation of physics environments.
spot_mini_mini - Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
ODE
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
mujoco - Multi-Joint dynamics with Contact. A general purpose physics simulator.