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javaopen-sourcesimulationphysicscollision-detection

Open source, pure Java physics / dynamics library

I'm looking for a lightweight, pure Java physics engine to do some simulations for robotic motion control.

My requirements:

  • Rigid body physics
  • Joint constraints and forces
  • Convex object collision detection
  • Lightweight, pure Java so it can be embedded in my application
  • Ability to run simulations quickly
  • Handles 50-100 objects comfortably
  • Open source

Rather than reinventing the wheel, can you recommend any existing libraries that would fit the bill?

p.s. I have Googled already - I'm just keen to get honest opinions from people who have already used or implemented such things!

Solution

  • I have used JBullet and JBox2D. They both are good libraries. JBox2D is more actively being changed, but JBullet has slightly larger base.

    Just for fun, I was trying to simulate an old physics problem recently, for which I posted the results here.