some time ago, I posted a video about my C++ implementation of the Articulated Body Algorithm (ABA), one of the best available algorithms available to perform forward dynamics computations on kinematic tree structures (if this sounds weird, replace “forward dynamics computations” by “physics simulations” and “kinematic tree structures” by “human-like figures” and you might be able to get a clue what you can do with it).
I mostly use it for my scientific work, which is funded by the Heidelberg Graduate School of Mathematical and Computational Methods for the Sciences. I spent quite some time in programming it and making sure it does what it should (91 tests!).
So far I am very happy with it and thought that maybe other can benefit from it as well.
Therefore I decided to publish it under an open-source license, namely the very permissive zlib license (which is also used by Bullet), which should allow pretty much anyone to do what he/she/it wants with it. However comments, suggestions or acknowledgements are still very welcome.
You can grab it at:
It does feel a little weird to let it out into the wild, but I hope it is of use for anyone.