CapSim - the MATLAB physics engine 1.0

CapSim is an open-source planar physics simulator designed for academic purposes.The main features are:* Simple yet full featured, %100 Matalab code for readability and modifiability, perfect for research.* Planar capsules (a capsule is a segment with a radius) can be connected in arbitrary topologies, free floating or anchored* All computation are done in a minimal coordinate system, i.e. angles and centers-of-mass, no "constraint stabillization"* Computation of centripetal and coriolis Jacobians allows us to use semi-implicit Euler integration [1], which is just as cheap as Euler, yet considerably more accurate.* Collision detection for both capsule-wall and capsule-capsule collisions* Full support for contact and friction impulses using either the classic model of [2], or the convexified model of [3]* Support for several LCP solvers, including the PATH solver [4], a solver based on the semi-smooth algorithm of Fisher [5].Instructions============1) Run test_sim.m to play with an interactive simulation.2) Read tutorial.m to learn how to build your own models.3) Read the underlying code to learn how the physics simulation works.4) Modify the code, improve it, give back to the community.References==========[1] Potra Et Al "A linearly implicit trapezoidal method for integratingstiff multibody dynamics with contact, joints, and friction"Int. J. Numer. Meth. Eng. 2000; 00:1d-deOCt6[2] M. Anitescu and F. A. Potra, d-deDUFormulating dynamic Multi-Rigid-Body contact problems with friction as solvable linear complementarityproblems,d-deDt Nonlinear Dynamics, vol. 14, no. 3, pp. 231d-deOCt247, Nov. 1997.[3] M. Anitescu, d-deDUOptimization-based simulation of nonsmooth rigid multibodydynamics,d-deDt Mathematical Programming, vol. 105, no. 1, pp. 113d-deOCt143, 2006.[4] Ferris, M.C. and Munson, T.S., "Complementarity problems in GAMS andthe PATH solver", Journal of Economic Dynamics and Control, vol. 24, no. 2,pp. 165-188, 2000.[5] A. Fisher "A Newton-Type Method for Positive-Semidefinite LinearComplementarity Problems" JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS:Vol. 86, No. 3, pp. 585-608, SEPTEMBER 1995

Requirements:	No special requirements
Platforms:	Matlab
Keyword:	Anitescu,  Build,  Dynamic,  Dynamics,  Formulating,  Frictionquotint,  Implicit,  Integratingstiff,  Joints,  Learn,  Linear,  Linearly,  Method,  Multibody,  Multirigidbody,  Numer,  Problems,  Solvable,  Trapezoidal
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