Top 14 Kinematic Open-Source Projects

• Bullet

  41 11,886 3.4 C++

  Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

  

Project mention: Blaze: A High Performance C++ Math library | news.ycombinator.com | 2024-04-17

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)...

• robotics-toolbox-python

  8 1,859 5.9 Python

  Robotics Toolbox for Python

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• pinocchio

  9 1,479 9.1 C++

  A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

  

Project mention: Good examples of C++ source code for math oriented software development? | /r/cpp_questions | 2023-06-17

• DART

  1 866 9.3 C++

  DART: Dynamic Animation and Robotics Toolkit (by dartsim)

  

• Robotics Library (RL)

  2 844 5.2 C++

  The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.

  

• hexapod

  3 555 3.3 JavaScript

  Blazing fast hexapod robot simulator for the web. (by mithi)

• dkt

  1 253 6.8 Jupyter Notebook

  A Tutorial on Manipulator Differential Kinematics

• WorkOS

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• pymadcad

  5 194 5.8 Python

  Simple yet powerful CAD (Computer Aided Design) library, written with Python.

• openbiomechanics

  1 187 4.0 Jupyter Notebook

  The open source initiative for anonymized, elite-level athletic motion capture data. Run by Driveline Baseball.

  

• IKBT

  2 168 7.4 Python

  A python package to solve robot arm inverse kinematics in symbolic form

  

• pink

  3 134 9.1 Python

  Python inverse kinematics based on Pinocchio (by stephane-caron)

  

• Fabrik2DArduino

  1 93 5.1 C++

  A fast forward- and inverse kinematics solver for Arduino based on the FABRIK algorithm. The solver supports up to 4 DOF.

• jord

  0 15 3.6 Haskell

  Geographical Position Calculations

• projectile-trajectory

  1 14 1.8 ShaderLab

  Learn how to use a Line Renderer and a basic kinematic equation to show the trajectory of any projectile! We're using a grenade in this case, but it can be applied to cannon balls, bullets affected by gravity, throwing a banana, or any other projectile!

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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…
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• A note from our sponsor - InfluxDB
  www.influxdata.com | 23 Apr 2024

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