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 es un motor de física multiplataforma y solver de dinámica de cuerpos rígidos diseñado para simulaciones 2D y 3D. Funciona como un sistema de detección de colisiones y un framework de simulación robótica, proporcionando una API consistente para calcular interacciones físicas en diferentes entornos. El motor destaca por sus capacidades robóticas especializadas, incluyendo un kit de herramientas para importar modelos URDF y STL para controlar cadenas multicuerpo. Admite un movimiento mecánico preciso mediante cálculos de cinemática inversa y la aplicación de controladores PID para el control dinámico de cuerpos. La superficie de simulación cubre una amplia gama de capacidades físicas, incluyendo controladores cinemáticos de personajes para el desplazamiento por terreno y modelos de ray-cast para la dinámica de vehículos. Cuenta con un pipeline de colisión multifase con detección de colisiones continua para evitar el túnel de objetos, así como un sistema para restricciones de movimiento articulado utilizando juntas de revolución, prismáticas y esféricas. El framework incluye utilidades para importar definiciones geométricas externas mediante formatos STL, URDF y XML, y proporciona una interfaz de depuración agnóstica al backend para visualizar estados físicos internos y escenas 3D.

Este proyecto es una simulación de aeronave de código abierto para Microsoft Flight Simulator, que proporciona una recreación de alta fidelidad de un avión comercial. Consiste en un modelo de vuelo detallado, una cabina virtual interactiva y sistemas de aeronave simulados diseñados para replicar el comportamiento de un jet de pasajeros del mundo real. La simulación emplea una arquitectura de aviónica modular y sincronización de cabina basada en estados para gestionar los instrumentos de la cabina de vuelo. Utiliza un tiempo de ejecución de WebAssembly para lógica de sistemas de alto rendimiento y cuenta con una red de puente de datos para enrutar datos de simulación a hardware externo y herramientas de terceros. El proyecto cubre amplios dominios de simulación de aviación, incluyendo dinámica de vuelo de aviones comerciales, la replicación de procedimientos de vuelo del mundo real y la creación de libreas exteriores personalizadas. También incluye recursos de instrucción para operaciones de vuelo y herramientas interactivas para la exploración de la cabina. El software se mantiene a través de un sistema de gestión de complementos dedicado para instalar y actualizar la simulación y sus extensiones compatibles.

Pts es una librería de codificación creativa en TypeScript y framework de visualización de datos diseñado para crear arte generativo y visuales interactivos. Funciona como un motor de gráficos multiobjetivo que envía comandos visuales a HTML5 Canvas y SVG a través de una única interfaz unificada. El kit de herramientas sirve como herramienta de visualización de álgebra lineal, proporcionando primitivas matemáticas para transformaciones espaciales y cálculos geométricos. Esto permite la creación de patrones algorítmicos y la simulación de comportamientos geométricos. El framework cubre una amplia superficie de capacidades, incluyendo el diseño de gráficos interactivos, la aplicación de álgebra lineal para gráficos y el renderizado de elementos visuales en múltiples formatos de salida.

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 es un simulador de robots basado en física y entorno de desarrollo utilizado para modelar, programar y probar el comportamiento de robots en un mundo físico 3D simulado. Sirve como herramienta de prototipado virtual para verificar sistemas mecánicos y electrónicos mediante la creación de modelos de robots virtuales y lógica de control. La plataforma permite un flujo de trabajo de simulación robótica completo, incluyendo el desarrollo de controladores de robots y la programación de comportamientos de agentes autónomos. Se centra en el modelado de sistemas físicos para representar las propiedades mecánicas del hardware y simular interacciones del mundo real. Las capacidades del sistema cubren el desarrollo de controladores de robots, programación de agentes autónomos y el modelado y simulación general de sistemas robóticos.

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