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REDMAX: Efficient & Flexible Approach for Articulated Dynamics
License: MIT License
CMake 1.87%
GLSL 0.14%
C++ 57.74%
Python 6.88%
MATLAB 33.37%
redmax's Introduction
REDMAX: Efficient & Flexible Approach for Articulated Dynamics
Ying Wang, Nicholas J. Weidner, Margaret A. Baxter, Yura Hwang, Danny M. Kaufman, Shinjiro Sueda
ACM Transactions on Graphics, 38 (4) XX:1-XX:10 (SIGGRAPH), 2019.
Source folders:
c++
: C++ implementation including Projected Block Jacobi Preconditioner
matlab-simple
: Simpler object-oriented MATLAB implementation for getting started
matlab
: Object-oriented MATLAB implementation with many features, including:
- Recursive hybrid dynamics (Featherstone's algorithm) for comparison
- Time integration using
ode45
or euler
- Frictional dynamics with Bilateral Staggered Projections
- Spline curve and surface joints [Lee and Terzopoulos 2008]
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