wbyates777/Articulated-Rigid-Body

Compact implementation of spatial algebra, and Featherstone's articulated-body algorithm (ABA), composite rigid body algorithm (CRBA), and the recursive Newton-Euler algorithm (RNEA) with end-to-end automatic differentiability (AD). Depends on STL, GLM and autodiff libraries.

2 best points · 1 comments · 1 Hacker News post · 19 GitHub stars · View on GitHub

Hacker News discussions

• Show HN: ARB – A Differentiable Rigid Body Simulation Library Using C++23 (2 points, 1 comments, by wbyates777, 2026-06-11)