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Is there ROS support for PAL (Physics Abstraction Layer) or other physics engines (not only ODE or Bullet)?

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I found that PAL support many physical engines. I specially interested in not only rigid models but also fluid or breakable models. Here is the list of PAL features now: Physics Engines Box2D (experimental) Bullet Dynamechs(deprecated) Havok (experimental) IBDS (experimental) JigLib Meqon(deprecated) Newton ODE OpenTissue (experimental) PhysX (a.k.a Novodex, Ageia PhysX, nVidia PhysX) Simple Physics Engine (experimental) Tokamak TrueAxis File Formats Collada Scythe PAL XML(deprecated) Collision subsystem Solver subsystem (Multithreaded / Hardware acceleration) Bodies (Static and Dynamic) Box Capsule Compound Bodies Convex Sphere Geometries Box Capsule Convex Mesh Concave Mesh (Terrain) Height field (Terrain) Plane (Terrain) Sphere Links Spherical (Ball and Socket) Link Revolute (Hinge) Link Prismatic (Slider) Link Generic 6DOF Link Sensors Contact Compass (Angular position) GPS (Global Positioning System - Position) Gyroscope (Angular velocity) Inclinometer (Angular position) PSD (Position Sensitive Device - Ray casting) Sonar (Ray casting) Velocimeter (Linear velocity) Transponder (Distance between two objects) Actuators Force actuator (Generic) DC Motor Servo Motor Hydrofoil Propeller Spring Fluids Particle Fluids (SPH) Grid-Based Fluids (Dampened Shallow Wave) Buoyancy Force Drag & Lift Forces Vehicles I also find three engines: 1. [irrlicht engine](http://irrlicht.sourceforge.net/) also seems to be an excellent realtime 3D engine(pretty beautiful). ![image description](/upfiles/13287588488947317.jpg) 2. [SOFA Framework](http://en.wikipedia.org/wiki/SOFA_%28Simulation_Open_Framework_Architecture%29) (Deformable models,Rigid models,Fluid models,Collision models) ![image description](/upfiles/13287597737367487.png) 3. [SICONOS(simulation of mechanical systems)](http://siconos.gforge.inria.fr/) This has special functions I'm not really understand it is useful or not. Hybrid systems and switched systems Mechanical systems with contact, impact and friction Electrical circuits with ideal and piecewise linear components Differential inclusions and Complementarity systems Sliding mode control and Optimal Control with state constraints Linear Complementarity problems (LCP) Mixed Linear Complementarity problems (MLCP) Nonlinear Complementarity Problems (NCP) Friction-contact problems (2D or 3D) Primal or Dual Relay problems Quadratic Programming problems (QP) ![image description](/upfiles/13287614304268525.png) What ROS already support now? What engines will be able to support in the future? Thank you~

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