A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Incremental Potential Contact (IPC) is for robust and accurate time stepping of nonlinear elastodynamics. IPC guarantees intersection- and inversion-free trajectories regardless of materials, time-step sizes, velocities, or deformation severity.

A Multi-Scale Model for Simulating Liquid-Fabric Interactions

Visualization of Motions for Legged Robots in ros-rviz

Visco-elasto-plasticity and fracture simulator with the material point method (MPM) -- the reference implementation of SIGGRAPH 2019 technical paper Silly Rubber and CD-MPM.

PhysIKA: Physics-based Interactive Kinematics Architecture

Wobbly windows and animations logic split out from Compiz

Projects and Resources on Physics (Physically) based animation

Lecture at University of Tokyo 2023S

The author's Implementation of "Surface-Only Dynamic Deformables using a Boundary Element Method."

Research oriented physics-based animation infrastructure.

Uses SFML for a compact physics simulation illustrating elastic collisions in C++.

This is a C++ code which based upon the concept of Kinematics "Rain man problem". It helps students to visualize the problem and get the accurate answer.

Physics-based Animation class repo