2D Contact physics simulation by solving Linear Complementarity Problems.
For more details, see my related paper: https://arxiv.org/abs/2112.08426
- Open your Julia REPL by typing
juliain your terminal. - Press
]on your keyboard to enter the package manager - Enter command
add https://github.com/adubredu/contact_walk.jland pressEnteron your keyboard to install this package. - Press the
Backspacekey on your keyboard to return to the REPL
Example scripts can be found in the examples folder in this repo.
The block_sim.jl script simulates physics of a 2D square block dropped from a height, as shown below:
The ball_sim.jl script simulates physics of a 2D ball, as shown below:
The walker_sim.jl script simulates physics of a 2D dynamic walker, as shown below. The walking controller uses partial feedback linearization:
The kick_ball_sim.jl script simulates physics of a 2D dynamic walker kicking a ball, as shown below. The walking controller uses partial feedback linearization.:
