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Moby

The Moby rigid body dynamics simulator

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Moby

What makes Moby special?

Most multi-rigid body simulations present the user with numerous parameters to tune, and poor tuning can result in clear physical artifacts or simulation instability. Moby aims for minimal parameter tuning through true rigidity: interpenetration is eliminated, bodies do not detach at joints, and joints do not move beyond their range of motion.

Moby doxygen-based documentation is located here.

Features (current and slated)

Feature Availability
Independent coordinate representation current
Jacobian computations current
Implicit joint constraints (for bodies with kinematic loops) current
Projected constraint stabilization current (experimental)
SDF support current
Saving/restoring simulations current
Energy dissipation for stable simulations current
Gears current
Revolute joints current
Prismatic joints current
Spherical joints current
Universal joints current
Fixed joints current
Joint limits current
Full unit tests Fall 2016

Collision primitives supported

Sphere Box Cylinder Plane (half-space) Cone Convex polyhedron Heightmap
Sphere Summer 2016 Summer 2016 Fall 2015
Box Summer 2016 Summer 2016 Summer 2016
Cylinder Summer 2016 Summer 2016 Summer 2016 Summer 2016 Summer 2016 Summer 2016
Plane (half-space) N/A N/A
Cone Summer 2016 Summer 2016 Summer 2016 Summer 2016 Summer 2016 Summer 2016
Convex polyhedron Spring 2016 Summer 2016 Summer 2016
Heightmap Summer 2016 Summer 2016 Summer 2016 N/A Summer 2016 Summer 2016