Open-source alternatives to PositionBasedDynamics

Bullet3 is a professional physics simulation engine designed for calculating rigid body, soft body, and collision dynamics within 3D environments and robotics applications. It functions as a computational framework for determining complex geometric intersections and contact manifolds between objects in simulated space. The library distinguishes itself through a distributed rendering framework that scales heavy graphical workloads and scene generation tasks across large clusters of machines. This capability enables the production of massive datasets by distributing complex scene generation acr

Open source C++ physics engine library in 3D

Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings

2 and 3-dimensional rigid body physics engine for Rust.

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.

Multibody Dynamics Library designed for Free Floating Robots

Genesis is an embodied AI simulation platform and parallelized robotics simulator designed for training general-purpose robotic agents. It integrates a physics engine for robotics that calculates collisions and movements for rigid bodies, soft tissues, and fluids, alongside a photorealistic 3D rendering engine. The platform features a domain randomization framework to vary environment parameters across parallel simulations, aiding in sim-to-real transfer. It supports the integration of real-world captured light fields and Gaussian splatting to provide photorealistic backgrounds within simulat

Massively parallel rigidbody physics simulation on accelerator hardware.

MuJoCo is a physics simulation engine designed for the dynamics of multi-joint articulated structures. It provides a computational framework for calculating the forces, velocities, and physical interactions of complex models within a virtual environment, supporting research in robotics, biomechanics, and machine learning. The engine utilizes a constraint-based dynamics solver and recursive algorithms to manage the motion of articulated systems. It includes a native graphical interface for real-time visualization, allowing users to inspect physical behaviors and contact dynamics as they occur.

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

Julia implementation of various rigid body dynamics and kinematics algorithms

Kris' Locomotion and Manipulation Planning Toolkit

A template-based robot dynamics library

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

This is the GitHub mirror for the LibrePilot source code. The main development is taking place at https://bitbucket.org/librepilot

Newton Dynamics is an integrated solution for real time simulation of physics environments.

A multi-body simulation software

:zap: The Mobile Robot Programming Toolkit (MRPT)

Vehicle and mobile robotics simulator. C++ & Python API. Use it as a standalone application or via ROS 1 or ROS 2

Trep: Mechanical Simulation and Optimal Control Software

Newton is a GPU-accelerated physics engine and robotics simulation platform designed for high-performance modeling of rigid bodies and complex articulations. It functions as a differentiable physics engine, calculating gradients to enable mathematical optimization and machine learning. The platform is distinguished by its ability to execute multiple parallel physics worlds on a single GPU, which accelerates data collection for reinforcement learning. It also supports the simulation of deformable bodies, such as cloth and cables, using particle-based methods and multi-physics coupling. Newton

PhysX is a physics engine SDK designed for calculating real-time rigid body dynamics, fluid simulations, and environmental interactions in virtual applications. It includes a GPU-accelerated physics solver for computing complex particle fluids and combustion models, a voxel fluid simulator for real-time gas, fire, and smoke, and a destruction simulation framework for modeling the fracture of meshes. The SDK features a specialized machine learning physics tensor interface that enables the exchange of simulation data with machine learning frameworks using a common tensor format. It also impleme

NVIDIA Flex - 1.1.0

The Moby rigid body dynamics simulator

Chrono is a multi-physics simulation suite that functions as a multibody dynamics simulator, a finite element analysis tool, and a robotics simulation framework. It provides specialized solvers for fluid-solid interaction and distributed physics engines capable of synchronizing multiple agents across a network. The project features a dedicated pipeline for converting CAD assemblies into simulation-ready formats and integrates directly with robot operating systems to validate autonomous control logic and sensors. It differentiates itself through the use of WebAssembly for portable browser-base

Multibody dynamics tool kit.

Lightweight and Simple 3D Open Source Physics Engine in C++