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 este un motor de fizică cross-platform și un solver de dinamică a corpurilor rigide conceput pentru simulări 2D și 3D. Funcționează ca un sistem de detectare a coliziunilor și un framework de simulare robotică, oferind un API consistent pentru calcularea interacțiunilor fizice în medii diferite. Motorul se distinge prin capabilități robotice specializate, inclusiv un toolkit pentru importarea modelelor URDF și STL pentru a controla lanțurile multibody. Suportă mișcarea mecanică precisă prin calcule de cinematică inversă și aplicarea controlerelor PID pentru controlul dinamic al corpului. Suprafața de simulare acoperă o gamă largă de capabilități fizice, inclusiv controlere cinematice de caracter pentru traversarea terenului și modele ray-cast pentru dinamica vehiculelor. Dispune de un pipeline de coliziune multi-fază cu detectare continuă a coliziunilor pentru a preveni tunneling-ul obiectelor, precum și un sistem pentru constrângeri de mișcare articulată folosind articulații revolute, prismatice și sferice. Framework-ul include utilitare pentru importarea definițiilor geometrice externe prin formate STL, URDF și XML și oferă o interfață de debug agnostic-backend pentru vizualizarea stărilor fizice interne și a scenelor 3D.

Acest proiect este o simulare de aeronavă open-source pentru Microsoft Flight Simulator, oferind o recreare de înaltă fidelitate a unui avion comercial de pasageri. Acesta constă într-un model de zbor detaliat, un cockpit virtual interactiv și sisteme de aeronavă simulate concepute pentru a replica comportamentul unui avion de pasageri din lumea reală. Simularea utilizează o arhitectură de avionică modulară și sincronizarea cockpit-ului bazată pe stare pentru a gestiona instrumentele din cabina de pilotaj. Utilizează un runtime WebAssembly pentru logica sistemelor de înaltă performanță și dispune de o rețea de tip data-bridge pentru rutarea datelor de simulare către hardware extern și instrumente terțe. Proiectul acoperă domenii largi de simulare a aviației, inclusiv dinamica zborului avioanelor de linie, replicarea procedurilor de zbor din lumea reală și crearea de liveries exterioare personalizate. Include, de asemenea, resurse instrucționale pentru operațiunile de zbor și instrumente interactive pentru explorarea cockpit-ului. Software-ul este menținut printr-un sistem dedicat de gestionare a add-on-urilor pentru instalarea și actualizarea simulării și a extensiilor sale compatibile.

Pts este o bibliotecă TypeScript de creative coding și un framework de vizualizare a datelor conceput pentru construirea de artă generativă și vizualuri interactive. Funcționează ca un motor grafic multi-target care transmite comenzi vizuale către HTML5 Canvas și SVG printr-o singură interfață unificată. Toolkit-ul servește ca un instrument de vizualizare a algebrei liniare, oferind primitive matematice pentru transformări spațiale și calcule geometrice. Acest lucru permite crearea de modele algoritmice și simularea comportamentelor geometrice. Framework-ul acoperă o suprafață largă de capabilități, inclusiv designul diagramelor interactive, aplicarea algebrei liniare pentru grafică și randarea elementelor vizuale în mai multe formate de ieșire.

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 este un simulator de roboți bazat pe fizică și un mediu de dezvoltare utilizat pentru modelarea, programarea și testarea comportamentului roboților într-o lume fizică 3D simulată. Servește drept instrument de prototipare virtuală pentru a verifica sistemele mecanice și electronice prin crearea de modele virtuale de roboți și logică de control. Platforma permite un flux de lucru complet de simulare robotică, inclusiv dezvoltarea de controllere pentru roboți și programarea comportamentelor agenților autonomi. Se concentrează pe modelarea sistemelor fizice pentru a reprezenta proprietățile mecanice ale hardware-ului și a simula interacțiunile din lumea reală. Capabilitățile sistemului acoperă dezvoltarea de controllere pentru roboți, programarea agenților autonomi și modelarea și simularea generală a sistemelor robotice.

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