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A free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving objects in VR environments. It's fast, flexible & robust. Built-in collision detection.
simulations with Lagrangian method,both symbolic and by numeric deriv
.... The numeric stuff really just illustrate the use of a real little physics-engine aimed at articulated body simulation... that's the funnest part of it: but of course much more is coming. Also some examples in Game Maker and Matlab/Octave are coming soon.
link to Part 1 of the video where all method is thoroughly exmplained:
http://youtu.be/ELD0WPOxNb0
http://youtu.be/Kjhkyq-pLLw
the part_2 shall explain numeric stuff, and some support for collisions and serious rigid bodies jointed.