Dynamic Animation and Robotics Toolkit - ODE Collision Dev
DART is a collaborative, cross-platform, open source library created by
the Georgia Tech Graphics Lab and Humanoid Robotics Lab. The library
provides data structures and algorithms for kinematic and dynamic
applications in robotics and computer animation. DART is distinguished
by it's accuracy and stability due to its use of generalized coordinates
to represent articulated rigid body systems and computation of
Lagrange's equations derived from D.Alembert's principle to describe the
dynamics of motion. For developers, in contrast to many popular physics
engines which view the simulator as a black box, DART gives full access
to internal kinematic and dynamic quantities, such as the mass matrix,
Coriolis and centrifugal forces, transformation matrices and their
derivatives. DART also provides efficient computation of Jacobian
matrices for arbitrary body points and coordinate frames. Contact and
collision are handled using an implicit time-stepping, velocity-based
LCP (linear-complementarity problem) to guarantee non-penetration,
directional friction, and approximated Coulomb friction cone conditions.
For collision detection, DART uses FCL developed by Willow Garage and
the UNC Gamma Lab. DART has applications in robotics and computer
animation because it features a multibody dynamic simulator and tools
for control and motion planning. Multibody dynamic simulation in DART is
an extension of RTQL8, an open source software created by the Georgia
Tech Graphics Lab. This package contains the collision ode headers and
other tools for development.
