Source folders:
c++: C++ implementation including Projected Block Jacobi Preconditionermatlab-simple: Simpler object-oriented MATLAB implementation for getting startedmatlab: Object-oriented MATLAB implementation with many features, including:- Recursive hybrid dynamics (Featherstone's algorithm) for comparison
- Time integration using
ode45oreuler - Frictional dynamics with Bilateral Staggered Projections
- Spline curve and surface joints [Lee and Terzopoulos 2008]