The Open Dynamics Engine (ODE) is a physics engine written in C/C++. Its two main components are a rigid body dynamics simulation engine and a collision detection engine.[3] It is free software licensed both under the BSD license and the LGPL.

Open Dynamics Engine
Developer(s)Russell Smith
Initial releaseMay 8, 2001; 23 years ago (2001-05-08)
Stable release
0.16.2 / July 30, 2020; 4 years ago (2020-07-30)[1]
Repositorybitbucket.org/odedevs/ode
Written inC/C++
Operating systemPlatform independent
TypePhysics engine
LicenseBSD[2]
Websitewww.ode.org
A simple vehicle driving over a ramp. This demo is distributed with the ODE source code (demo_buggy).
A collision with many objects. This demo is distributed with the ODE source code (demo_crash).

ODE was started in 2001 and has already been used in many applications and games, such as Assetto Corsa, BloodRayne 2, Call of Juarez, S.T.A.L.K.E.R., Titan Quest, World of Goo, X-Moto and OpenSimulator.

Overview

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The Open Dynamics Engine is used for simulating the dynamic interactions between bodies in space. It is not tied to any particular graphics package although it includes a basic one called drawstuff.[4] It supports several geometries: box, sphere, capsule (cylinder capped with hemispheres), triangle mesh, cylinder and heightmap.

Simulation

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Higher level environments that allow non-programmers access to ODE include Player Project, Webots, Opensimulator, anyKode Marilou and CoppeliaSim.

ODE is a popular choice for robotics simulation applications, with scenarios such as mobile robot locomotion[5][6] and simple grasping. ODE has some drawbacks in this field, for example the method of approximating friction and poor support for joint-damping.[7]

See also

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References

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  1. ^ "Downloads". Archived from the original on 2018-12-24. Retrieved 2018-12-24.
  2. ^ ODE's license
  3. ^ "Open Dynamics Engine - Intel Threading Building Blocks [Book]". www.oreilly.com. Retrieved 2023-04-08.
  4. ^ "odedevs / ode / drawstuff". bitbucket.org. Retrieved 2023-04-08.
  5. ^ Brezina, Tomas; Jablonski, Ryszard (2009-11-29). Recent Advances in Mechatronics: 2008 - 2009. Springer Science & Business Media. ISBN 978-3-642-05022-0.
  6. ^ Yıldırım, Şahin; Arslan, Erdem (2018-08-01). "ODE (Open Dynamics Engine) based stability control algorithm for six legged robot". Measurement. 124: 367–377. doi:10.1016/j.measurement.2018.03.057. ISSN 0263-2241. S2CID 70264565.
  7. ^ Drumwright, Evan; Hsu, John; Koenig, Nathan; Shell, Dylan (2010). "Extending Open Dynamics Engine for Robotics Simulation". In Ando, Noriaki; Balakirsky, Stephen; Hemker, Thomas; Reggiani, Monica; von Stryk, Oskar (eds.). Simulation, Modeling, and Programming for Autonomous Robots. Lecture Notes in Computer Science. Vol. 6472. Berlin, Heidelberg: Springer. pp. 38–50. doi:10.1007/978-3-642-17319-6_7. ISBN 978-3-642-17319-6.
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