I used Rapier before, but it did not seem to be quite made for robotics, and was missing some features I needed, so I embarked on this journey to build a physics engine myself.
I am learning a lot as I build it, so it is also a learning project for me.
Run all tests in lib:
cargo test --lib -- --nocapture
Run the pendulum example:
cargo run --bin horizontal_rod_pendulum
It should generate a plot that plots angle of the rod against the time axis.
- Deploy the visualization to github page
- Add section on visualization in README
It mainly implements the theory in Roy Featherstone's book Rigid Body Dynamics Algorithm.
Also built with a lot of references to Julia package RigidBodyDynamics.jl.