f = ma

games, math, code

December 15, 2011

The RBDL – the Rigid Body Dynamics Library is a highly efficient C++ library that contains some essential rigid body dynamics algorithms. It includes the Articulated Body Algorithm (ABA) for forward dynamics, Newton-Euler Algorithm for inverse dynamics and the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix.

I mostly use it for my scientific work, which is funded by the Heidelberg Graduate School of Mathematical and Computational Methods for the Sciences. I spent quite some time in programming it and making sure it does what it should (more than 90 tests).

Some highlights:

- Articulated Body Algorithm (ABA)
- Newton-Euler Algorithm
- Composite Rigid Body Algorithm (CRBA)
- Contact force computation as described by Kokkevis & Metaxas in “Practical Physics for Articulated Characters”, Game Developers Conference, 2004
- Basic forward and inverse kinematics routines
- Extensive doxygen documentation
- open-source (zlib License)

Website: http://rbdl.bitbucket.org

Source code repository: http://bitbucket.org/rbdl/rbdl/