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Open Dynamics Engine

From Wikipedia, the free encyclopedia
Physics engine written in C/C++
Open Dynamics Engine
DeveloperRussell Smith
Initial releaseMay 8, 2001; 24 years ago (2001-05-08)
Stable release
0.16.6 / January 16, 2025; 13 months ago (2025-01-16)[1]
Written inC/C++
Operating systemPlatform independent
TypePhysics engine
LicenseBSD[2]
Websitewww.ode.org
Repositorybitbucket.org/odedevs/ode
A simple vehicle driving over a ramp. This demo is distributed with the ODE source code (demo_buggy).
A collision with many objects. This demo is distributed with the ODE source code (demo_crash).

TheOpen Dynamics Engine (ODE) is aphysics engine written in C/C++. Its two main components are arigid body dynamics simulation engine and acollision detection engine.[3] It isfree software licensed both under theBSD license and theLGPL.

ODE was started in 2001 and has been used in many applications and games, such asAssetto Corsa,BloodRayne 2,Call of Juarez,S.T.A.L.K.E.R.,Titan Quest,World of Goo,X-Moto,Mad Tracks andOpenSimulator.

Overview

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The Open Dynamics Engine is used for simulating the dynamic interactions between bodies in space. It is not tied to any particular graphics package although it includes a basic one calleddrawstuff.[4] It supports several geometries: box, sphere, capsule (cylinder capped with hemispheres),triangle mesh, cylinder andheightmap.

Simulation

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Higher level environments that allow non-programmers access to ODE includePlayer Project,Webots,Opensimulator,anyKode Marilou andCoppeliaSim.

ODE is a popular choice for robotics simulation applications, with scenarios such as mobile robot locomotion[5][6] and simple grasping. ODE has some drawbacks in this field, for example the method of approximating friction and poor support for joint-damping.[7]

See also

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References

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  1. ^"Downloads". Retrieved2025-05-10.
  2. ^ODE's license
  3. ^"Open Dynamics Engine - Intel Threading Building Blocks [Book]".www.oreilly.com. Retrieved2023-04-08.
  4. ^"odedevs / ode / drawstuff".bitbucket.org. Retrieved2023-04-08.
  5. ^Brezina, Tomas; Jablonski, Ryszard (2009-11-29).Recent Advances in Mechatronics: 2008 - 2009. Springer Science & Business Media.ISBN 978-3-642-05022-0.
  6. ^Yıldırım, Şahin; Arslan, Erdem (2018-08-01)."ODE (Open Dynamics Engine) based stability control algorithm for six legged robot".Measurement.124:367–377.doi:10.1016/j.measurement.2018.03.057.ISSN 0263-2241.S2CID 70264565.
  7. ^Drumwright, Evan; Hsu, John; Koenig, Nathan; Shell, Dylan (2010)."Extending Open Dynamics Engine for Robotics Simulation". In Ando, Noriaki; Balakirsky, Stephen; Hemker, Thomas; Reggiani, Monica; von Stryk, Oskar (eds.).Simulation, Modeling, and Programming for Autonomous Robots. Lecture Notes in Computer Science. Vol. 6472. Berlin, Heidelberg: Springer. pp. 38–50.doi:10.1007/978-3-642-17319-6_7.ISBN 978-3-642-17319-6.

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