Open Dynamics Engine

Last updated
Open Dynamics Engine
Developer(s) Russell Smith
Initial releaseMay 8, 2001;24 years ago (2001-05-08)
Stable release
0.16.6 / January 16, 2025;7 months ago (2025-01-16) [1]
Repository bitbucket.org/odedevs/ode
Written in C/C++
Operating system Platform independent
Type Physics engine
License BSD [2]
Website www.ode.org
A simple vehicle driving over a ramp. This demo is distributed with the ODE source code (demo_buggy). ODE buggy.png
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 crash.png
A collision with many objects. This demo is distributed with the ODE source code (demo_crash).

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.

Contents

ODE was started in 2001 and has 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, Mad Tracks and OpenSimulator .

Overview

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

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

References

  1. ↑ "Downloads" . Retrieved 2025-05-10.
  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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