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

Visualization of Motions for Legged Robots in ros-rviz

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

PhysIKA: Physics-based Interactive Kinematics Architecture

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.

Projects and Resources on Physics (Physically) based animation

Lecture at University of Tokyo 2023S

Research oriented physics-based animation infrastructure.

Wobbly windows and animations logic split out from Compiz

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

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

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