https://github.com/gazebosim/gz-physics
Abstract physics interface designed to support simulation and rapid development of robot applications.
https://github.com/gazebosim/gz-physics
cpp gazebo gazebosim hacktoberfest ignition-physics ignition-robotics physics physics-3d physics-engine physics-interface robotics robotics-simulation
Last synced: 3 months ago
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Abstract physics interface designed to support simulation and rapid development of robot applications.
- Host: GitHub
- URL: https://github.com/gazebosim/gz-physics
- Owner: gazebosim
- License: apache-2.0
- Created: 2020-04-15T09:18:03.000Z (almost 6 years ago)
- Default Branch: gz-physics8
- Last Pushed: 2025-03-19T17:19:33.000Z (12 months ago)
- Last Synced: 2025-03-29T06:05:18.467Z (12 months ago)
- Topics: cpp, gazebo, gazebosim, hacktoberfest, ignition-physics, ignition-robotics, physics, physics-3d, physics-engine, physics-interface, robotics, robotics-simulation
- Language: C++
- Homepage: https://gazebosim.org
- Size: 39.6 MB
- Stars: 65
- Watchers: 16
- Forks: 44
- Open Issues: 78
-
Metadata Files:
- Readme: README.md
- Changelog: Changelog.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Codeowners: .github/CODEOWNERS
- Authors: AUTHORS
Awesome Lists containing this project
README
# Gazebo Physics : Physics classes and functions for robot applications
**Maintainer:** scpeters AT openrobotics DOT org
[](https://github.com/gazebosim/gz-physics/issues)
[](https://github.com/gazebosim/gz-physics/pulls)
[](https://community.gazebosim.org)
[](https://www.apache.org/licenses/LICENSE-2.0)
Build | Status
-- | --
Test coverage | [](https://codecov.io/gh/gazebosim/gz-physics/tree/gz-physics8)
Ubuntu Noble | [](https://build.osrfoundation.org/job/gz_physics-ci-gz-physics8-noble-amd64)
Homebrew | [](https://build.osrfoundation.org/job/gz_physics-ci-gz-physics8-homebrew-amd64)
Windows | [](https://build.osrfoundation.org/job/gz_physics-8-clowin)
Gazebo Physics, a component of [Gazebo](https://gazebosim.org), provides an abstract physics interface
designed to support simulation and rapid development of robot applications.
# Table of Contents
[Motivation](#motivation)
[Features](#features)
[Install](#install)
[Usage](#usage)
[Folder Structure](#folder-structure)
[Code of Conduct](#code-of-conduct)
[Contributing](#code-of-contributing)
[Versioning](#versioning)
[License](#license)
# Motivation
Many physics simulation software libraries have been designed for different
applications (gaming, robotics, science) and with different features
(rigid or deformable contact, 2d or 3d).
Gazebo Physics is designed on the premise that there is not a single physics
engine that is universally best for all simulation contexts.
It should be possible to support a different set of features
for each physics engine according to its capabilities.
A physics engine can then be chosen for each application
based on its context.
# Features
Gazebo Physics provides the following functionality:
* Granular definition of physics engine features as optional API's.
* Plugin interface for loading physics engines with requested features
at runtime.
* Features for common aspects of rigid body dynamic simulation
- Construct model from [SDFormat](http://sdformat.org/) file.
- Collision shapes (such as box, sphere, cylinder, cone, capsule, ellipsoid, mesh, heightmap).
- Joint types (such as revolute, prismatic, fixed, ball, screw, universal).
- Step simulation, get/set state, apply inputs.
* Reference implementation of physics plugin using
[dartsim](http://dartsim.github.io/).
* A custom physics engine focused on fast kinematics of large environments, the
[Trivial Physics Engine](https://community.gazebosim.org/t/announcing-new-physics-engine-tpe-trivial-physics-engine/629).
* `CompositeData` structures for efficiently using native types in API.
# Install
See the [installation tutorial](https://gazebosim.org/api/physics/8/installation.html).
# Usage
Please refer to the [examples directory](https://github.com/gazebosim/gz-physics/raw/gz-physics8/examples/).
# Documentation
API and tutorials can be found at [https://gazebosim.org/libs/physics](https://gazebosim.org/libs/physics).
On Ubuntu, you can also generate the documentation from a clone of this repository by following these steps.
1. You will need Doxygen, which can be installed using
```
sudo apt-get install doxygen
```
2. Install dependencies
```
sudo apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main"
sudo apt-get build-dep -y libgz-physics8-dev
```
3. Clone the repository
```
git clone https://github.com/gazebosim/gz-physics -b gz-physics8
```
4. Configure and build the documentation.
```
cd gz-physics; mkdir build; cd build; cmake ..; make doc
```
5. View the documentation by running the following command from the build directory.
```
firefox doxygen/html/index.html
```
# Testing
Follow these steps to run tests and static code analysis in your clone of this repository.
1. Follow the "Source Installation" instructions in the [installation tutorial](https://gazebosim.org/api/physics/8/installation.html).
2. Run tests.
```
make test
```
3. Static code checker.
```
make codecheck
```
# Folder Structure
Refer to the following table for information about important directories and files in this repository.
```
gz-physics
├── bullet Files for bullet plugin component.
├── bullet-featherstone Files for bullet-featherstone plugin component.
├── dartsim Files for dartsim plugin component.
├── examples Examples about how to use the library.
├── heightmap Heightmap related header files.
├── include/gz/physics Header files.
├── mesh Files for mesh component.
├── sdf Files for sdf component.
├── src Source files and unit tests.
├── test
│ ├── benchmark Benchmark tests.
│ ├── common_test Tests common to multiple physics plugins.
│ ├── include Header files for tests.
│ ├── integration Integration tests.
│ ├── performance Performance tests.
│ ├── plugins Plugins used in tests.
│ ├── regression Regression tests.
│ ├── resources Models and mesh resource files.
│ └── static_assert Tests involving compilation failures.
├── tpe
│ ├── lib Implementation of TPE engine.
│ └── plugin Files for TPE plugin component.
├── tutorials Tutorials, written in markdown.
├── Changelog.md Changelog.
└── CMakeLists.txt CMake build script.
```
# Contributing
Please see the [contribution guide](https://gazebosim.org/docs/all/contributing).
# Code of Conduct
Please see
[CODE\_OF\_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).
# Versioning
This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complementary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.
# License
This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/gazebosim/gz-physics/blob/main/LICENSE) file.