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Articulated-body simulation engine written in C: based on the Lagrangian Dynamics, even if on a modified flavour of it, I deviced to make it more friendly in the context of numerical simulations.
The overall simulation procedure (de facto a full 3D, an articulated-body simulaiton engine) is called:
"Lagrangian Dynamics' New Flavour Simulations".
It is delivered through sample-simulators relying on it.
The modified falvour of the Lagrangian Dynamics here proposed is also a bit simpler to use and to understand than the original one. Of course it is all based on finite-differece derivatives, both oridinary and partial.
The new flavour relies on my first theorem on Numerical Methods,and the 1 on numerical stability
Hope this piece of software will be useful to many. For more info,visit homepage. I will provide detailed documentation on how to use the engine to implment simulations of most types of articulated bodies, soon.
Enjoy!
Simon, (a.k.a.) 'The Nerd of Algorithms
Features
- In the "Files" section, the individual examples can be downloaded.
- very short and simple sourcecode, written in plain C programming language
- progressively expanding, massive and clear documentation
- Use of the Lagrangian Dynamics in a modified flavour of it, which, however preserves all of it's strong points ; while eliminates all of it's drawbacks
- use of generalized coordinates instead of independent bodies kept togather by constraint-forces excerted by joint-mechanisms. There, at che centre of the view is the mechanism as a whole, which, at each instant, has a configuration.
- most documentation is in video-form, which then shall be transcribed: so it's more funny
- many examples, many of which are also funny as stand-alone simulation-videogames.
- in-build support for basic free-roaming vehicle simulation.
- the author welcomes questions and requests about the simulator, and so is active in helping to create a very solid and friendly documentations and kit of functioning examples
- I recently updated some examples in which there was a little mistake: now it's fine.
Project Samples
