Maintainer: scpeters AT openrobotics DOT org
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Gazebo Physics, a component of Gazebo, provides an abstract physics interface designed to support simulation and rapid development of robot applications.
Many physics simulation software libraries have been designed for different applications (gaming, robotics, science) and with different features (rigid or deformable contact, 2d or 3d). Gazebo Physics is designed on the premise that there is not a single physics engine that is universally best for all simulation contexts. It should be possible to support a different set of features for each physics engine according to its capabilities. A physics engine can then be chosen for each application based on its context.
Gazebo Physics provides the following functionality:
- Granular definition of physics engine features as optional API's.
- Plugin interface for loading physics engines with requested features at runtime.
- Features for common aspects of rigid body dynamic simulation
- Construct model from SDFormat file.
- Collision shapes (such as box, sphere, cylinder, capsule, ellipsoid, mesh, heightmap).
- Joint types (such as revolute, prismatic, fixed, ball, screw, universal).
- Step simulation, get/set state, apply inputs.
- Reference implementation of physics plugin using dartsim.
- A custom physics engine focused on fast kinematics of large environments, the Trivial Physics Engine.
CompositeDatastructures for efficiently using native types in API.
See the installation tutorial.
Please refer to the examples directory.
API and tutorials can be found at https://gazebosim.org/libs/physics.
You can also generate the documentation from a clone of this repository by following these steps.
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You will need Doxygen. On Ubuntu Doxygen can be installed using
sudo apt-get install doxygen -
Clone the repository
git clone https://github.com/gazebosim/gz-physics -b main -
Configure and build the documentation.
cd gz-physics; mkdir build; cd build; cmake ../; make doc -
View the documentation by running the following command from the build directory.
firefox doxygen/html/index.html
Follow these steps to run tests and static code analysis in your clone of this repository.
-
Follow the source install instruction.
-
Run tests.
make test -
Static code checker.
make codecheck
Refer to the following table for information about important directories and files in this repository.
gz-physics
├── bullet Files for bullet plugin component.
├── bullet-featherstone Files for bullet-featherstone plugin component.
├── dartsim Files for dartsim plugin component.
├── example Examples about how to use the library
├── heightmap Heightmap related header files.
├── include/gz/physics Header files.
├── mesh Files for mesh component.
├── resources Model and mesh resource files used by tests.
├── sdf Files for sdf component.
├── src Source files and unit tests.
├── test
│ ├── benchmark Benchmark tests.
│ ├── integration Integration tests.
│ ├── performance Performance tests.
│ ├── plugins Plugins used in tests.
│ ├── regression Regression tests.
│ └── static_assert Tests involving compilation failures.
├── tpe
│ ├── lib Implementation of TPE engine.
│ └── plugin Files for TPE plugin component.
├── tutorials Tutorials, written in markdown.
├── Changelog.md Changelog.
└── CMakeLists.txt CMake build script.
Please see the contribution guide.
Please see CODE_OF_CONDUCT.md.
This library uses Semantic Versioning. Additionally, this library is part of the Gazebo project which periodically releases a versioned set of compatible and complimentary libraries. See the Gazebo website for version and release information.
This library is licensed under Apache 2.0. See also the LICENSE file.