Awesome GitHub RepositoriesPhysics and Simulation

Matter-js is a 2D rigid body physics engine written in JavaScript for simulating realistic physical interactions, collisions, and dynamics in web browsers. It functions as a web physics simulation library that calculates motion, gravity, and constraints for objects rendered on a web canvas. The library includes a built-in canvas physics visualizer to draw physical bodies, joints, and constraints for debugging and gameplay. It distinguishes itself through a plugin system that supports recursive dependency resolution and internal method patching to inject custom logic into the engine's executio

Infinigen is a procedural 3D scene generation framework that creates photorealistic indoor and outdoor environments for computer vision training data. It combines constraint-based object placement, GPU geometry shaders, and ground-truth rendering passes to produce scenes with depth, normals, and segmentation masks alongside final images. The framework distinguishes itself through modular asset composition, a node-graph material system, and physics simulation integration that embeds rigid-body and fluid dynamics directly into the generation pipeline. Procedural rule-based scene composition and

Isaac Lab is an open-source framework for training robot policies in physically simulated environments, supporting both single-agent and multi-agent reinforcement learning. It is built on an Omniverse-PhysX simulation backend that models rigid bodies, articulated systems, deformable objects, and sensors, and provides a task-based environment configuration system where each training environment is defined as a modular class specifying observation spaces, action spaces, reward functions, and termination conditions. The framework distinguishes itself through an RL-library abstraction layer that

PufferLib is a reinforcement learning framework built around high-speed environment simulation and automatic hyperparameter optimization. It is designed to accelerate the entire RL training pipeline by running simulations at near-native speed and enabling the training of tiny models to super-human performance within seconds. The framework achieves its speed through a single-process training loop that eliminates inter-process communication overhead, vectorized batched simulation for parallel environment execution, and compiled C extensions that offload performance-critical computations. It als

Rapier ist eine plattformübergreifende Physik-Engine und ein Rigid-Body-Dynamics-Solver für 2D- und 3D-Simulationen. Er fungiert als Kollisionserkennungssystem und Framework für Robotik-Simulationen und bietet eine konsistente API zur Berechnung physikalischer Interaktionen über verschiedene Umgebungen hinweg. Die Engine zeichnet sich durch spezialisierte Robotik-Funktionen aus, einschließlich eines Toolkits zum Importieren von URDF- und STL-Modellen zur Steuerung von Multibody-Ketten. Sie unterstützt präzise mechanische Bewegungen durch Inverse-Kinematik-Berechnungen und die Anwendung von PID-Reglern für die dynamische Körpersteuerung. Die Simulationsfläche deckt ein breites Spektrum an physikalischen Funktionen ab, einschließlich kinematischer Charakter-Controller für die Geländedurchquerung und Ray-Cast-Modelle für Fahrzeugdynamik. Sie bietet eine mehrphasige Kollisions-Pipeline mit kontinuierlicher Kollisionserkennung zur Vermeidung von Objekt-Tunneling sowie ein System für verbundene Bewegungsbeschränkungen mittels Dreh-, Prismatik- und Kugelgelenken. Das Framework enthält Hilfsprogramme zum Importieren externer geometrischer Definitionen über STL-, URDF- und XML-Formate und bietet eine Backend-agnostische Debug-Schnittstelle zur Visualisierung interner physikalischer Zustände und 3D-Szenen.

Dieses Projekt ist eine Open-Source-Flugsimulation für Microsoft Flight Simulator, die eine hochpräzise Nachbildung eines Verkehrsflugzeugs bietet. Sie besteht aus einem detaillierten Flugmodell, einem interaktiven virtuellen Cockpit und simulierten Flugzeugsystemen, die darauf ausgelegt sind, das Verhalten eines realen Passagierjets zu replizieren. Die Simulation verwendet eine modulare Avionik-Architektur und zustandsgesteuerte Cockpit-Synchronisation zur Verwaltung der Instrumente im Cockpit. Sie nutzt eine WebAssembly-Runtime für hochperformante Systemlogik und verfügt über ein Datenbrücken-Netzwerk zum Routing von Simulationsdaten an externe Hardware und Drittanbieter-Tools. Das Projekt deckt breite Luftfahrtsimulationsbereiche ab, einschließlich Flugdynamik von Verkehrsflugzeugen, die Replikation realer Flugverfahren und die Erstellung benutzerdefinierter Außenlackierungen. Es enthält zudem Lehrmaterialien für Flugoperationen und interaktive Tools zur Cockpit-Erkundung. Die Software wird durch ein dediziertes Add-on-Managementsystem zur Installation und Aktualisierung der Simulation und ihrer kompatiblen Erweiterungen gewartet.

Pts ist eine TypeScript-Bibliothek für Creative Coding und ein Framework für Datenvisualisierung, das für die Erstellung generativer Kunst und interaktiver Visualisierungen entwickelt wurde. Es fungiert als Multi-Target-Grafik-Engine, die visuelle Befehle über eine einheitliche Schnittstelle an HTML5 Canvas und SVG ausgibt. Das Toolkit dient als Visualisierungstool für lineare Algebra und bietet mathematische Primitive für räumliche Transformationen und geometrische Berechnungen. Dies ermöglicht die Erstellung algorithmischer Muster und die Simulation geometrischer Verhaltensweisen. Das Framework deckt ein breites Funktionsspektrum ab, einschließlich des Designs interaktiver Diagramme, der Anwendung linearer Algebra für Grafiken und des Renderns visueller Elemente über mehrere Ausgabeformate hinweg.

Urho3D is a cross-platform 3D game engine written in C++. It uses a component-based scene graph to compose game objects from nodes and attached components, separating transforms from behaviors for modular design. The engine integrates AngelScript and Lua scripting for game logic, uses the Bullet library for physics simulation, and renders scenes with OpenGL or Direct3D through forward, deferred, or light pre-pass pipelines with customizable render passes and shadow mapping. The engine distinguishes itself with a built-in visual scene and UI editor for composing 3D worlds and interface layouts

Webots ist ein physikbasierter Robotersimulator und eine Entwicklungsumgebung, die für die Modellierung, Programmierung und das Testen des Verhaltens von Robotern in einer simulierten 3D-physikalischen Welt verwendet wird. Es dient als virtuelles Prototyping-Tool zur Verifizierung mechanischer und elektronischer Systeme durch die Erstellung virtueller Robotermodelle und Steuerungslogik. Die Plattform ermöglicht einen vollständigen Robotik-Simulations-Workflow, einschließlich der Entwicklung von Roboter-Controllern und der Programmierung autonomer Agenten-Verhaltensweisen. Sie konzentriert sich auf die Modellierung physischer Systeme, um die mechanischen Eigenschaften von Hardware abzubilden und reale Interaktionen zu simulieren. Die Fähigkeiten des Systems decken die Entwicklung von Roboter-Controllern, die Programmierung autonomer Agenten sowie die allgemeine Modellierung und Simulation robotischer Systeme ab.

Drake is a robotics simulation framework and control system modeling tool used for designing, simulating, and verifying the dynamics of complex robotic systems. It functions as a multibody dynamics simulator and a mathematical optimization library, providing a suite of algorithms for trajectory optimization and the simulation of articulated robots. The framework is distinguished by its block-diagram system for composing dynamical subsystems and its ability to formulate and solve diverse mathematical programs, including linear, quadratic, and nonconvex nonlinear problems. It supports specializ

Unitree RL Gym is an integrated software framework designed for the simulation, training, and deployment of motion control policies for legged robotic platforms. It provides a comprehensive environment for developing locomotion strategies for quadruped and humanoid robots by leveraging reinforcement learning algorithms within high-fidelity physics-based simulations. The platform distinguishes itself by offering an end-to-end workflow that bridges the gap between virtual training and physical execution. It includes specialized tools for mapping raw sensor data into normalized state-space obser

Goxel: Free and Open Source 3D Voxel Editor

Legged Gym is a high-performance simulation platform and toolkit engineered for training autonomous robotic agents in complex, physics-based environments. It provides a comprehensive framework for developing legged locomotion control policies, enabling robots to learn movement strategies for navigating uneven terrain and managing physical disturbances through reinforcement learning. The platform distinguishes itself by utilizing hardware-accelerated physics and headless execution to maximize computational throughput during training. It incorporates a domain randomization pipeline that injects

mujoco_menagerie is a curated library of physical robot specifications and XML model definitions designed for standardized dynamics and contact simulation. It provides a collection of high-quality robot model files for humanoids, quadrupeds, and manipulators, alongside detailed kinematic and inertial parameters used to reproduce real-world robot behavior in virtual environments. The project serves as a repository of robotics simulation assets and MJCF model definitions optimized for accuracy. It includes standardized model libraries specifically for bipedal, quadrupedal, and humanoid hardware

Avian is a 2D physics engine and rigid body dynamics simulator designed to calculate physical motion using mass, forces, and velocity. It provides a framework for simulating rigid body dynamics, collision detection, and joint constraints for games and applications. The engine utilizes a modular physics pipeline with a plugin-based architecture, allowing for the customization of simulation fidelity settings and the extension of collision backends. It includes a specialized kinematic character controller for implementing entity movement and sliding behavior against physical geometry. The syste

IsaacGymEnvs is a GPU-accelerated physics sandbox and robotics policy training suite designed for reinforcement learning. It serves as a vectorized robotic simulator that runs thousands of parallel environments on GPUs to accelerate the training of neural networks. The project provides a sim-to-real transfer framework that utilizes domain randomization and physics variations to ensure policies trained in simulation are robust enough for deployment on real hardware. It distinguishes itself through a high-performance architecture that uses tensor-based state management to handle observations an

KawaiiPhysics is an Unreal Engine physics plugin that provides a skeletal mesh simulation tool for calculating pseudo-physics bone sway. It is designed to create natural movement for hair and clothing by controlling bone rotation based on stiffness and damping without requiring a full rigid body physics engine. The system features a character physics constraint framework and a runtime controller that allows for the dynamic adjustment of simulation parameters and external forces. It utilizes data-asset preset management to ensure consistent physics behavior across different characters and obje

Habitat-Lab is an open-source platform for training and evaluating embodied AI agents in photorealistic 3D indoor environments. It functions as a high-performance 3D indoor environment simulator that supports physics-based interaction, enabling research into navigation and manipulation tasks. The platform provides a modular task-environment abstraction that separates task logic from environment simulation, using configuration-driven pipeline assembly to compose simulation and training pipelines. It includes a hierarchical sensor-actuator architecture for mixing and matching perception and act

This project is a parallel simulation engine and molecular dynamics simulator designed to model the physical movements of atoms and molecules. It functions as an interatomic potential framework for calculating forces between particles and a materials analysis tool for computing thermodynamic, structural, and transport properties of solids and fluids. The engine is distinguished by its high-performance computing capabilities, utilizing spatial-domain decomposition and message-passing interface communication to distribute workloads across processors. It supports multi-backend GPU acceleration v