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 |
- ◉ indicates full support
- ◒ indicates support through a discretization of a primitive (small interpenetration may result)