A high-performance physics simulation engine designed for multibody dynamics and robotics simulation.
Project description
MotrixSIm
MotrixSim 是一个高性能的物理仿真引擎，专为多体动力学和机器人仿真设计。它提供了一个高效、稳定的物理仿真平台，支持广泛的应用场景，包括机器人控制、强化学习、工业仿真等。
主要特性
- 物理仿真: 支持刚体动力学、碰撞检测等完整的物理仿真功能
- 广义坐标建模: 采用广义坐标系统，支持复杂的多体系统建模
- 全新求解器: 采用自研的约束模型和求解器，提供高效、稳定的多体动力学计算
- 高性能计算: CPU 版本基于 Rust 开发，提供出色的性能和内存安全性
- Python API: 简洁易用的 Python 接口，便于快速开发和原型制作
- 机器人支持: 专门优化的机器人仿真功能，高度兼容 MJCF 模型格式
适用场景
- 机器人控制算法开发和测试
- 强化学习环境构建
- 工业实时物理仿真
- 物理现象模拟和分析
- 工程设计验证
- 教育和研究
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