OpenMPT / openmpt

Official read-only git mirror of the OpenMPT and libopenmpt subversion repository at https://source.openmpt.org/. This repository may occasionally get rebased without further notice when subversion revision properties (commit message) get fixed in recent history after the fact. Be sure to rebase often in case you clone or fork it.

rbdl / rbdl

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.