This project uses Semantic Versioning (http://semver.org/).
The Sai2-Simulation library implements a complete multi-articulated body simulation system with the following components:
- Articulated body specification
- Time-stepping integrator
- Multi-point contact detection
- Multi-point multi-body collision resolution
- Multi-point multi-body contact resolution (with Coulomb friction)
Chai3d: https://github.com/manips-sai-org/chai3d sai2-urdfreader : https://github.com/manips-sai-org/sai2-urdfreader sai2-common : https://github.com/manips-sai-org/sai2-common
freeglut3, libxmu, libstdc++.
mkdir build && cd build
cmake .. && make -j4
rm -r build
rm -r ~/.cmake/packages/SAI2-SIMULATION
Take a look at sample applications under examples/. You can run them from build/examples/.
Currently pending licensing. PLEASE DO NOT DISTRIBUTE.
- Kyong-sok Chang
- Diego Ruspini
- Luis Sentis
- Jaehong Park
- Francois Conti
- Shameek Ganguly
- Mikael Jorda