Open Source Simulators

• PhysSim Evan Drumwright former USC

• Jiggle - window based sim

• Golems - neat little interface (java) to ODE

• OpenHRP3

• Bullet

• Phun

• IBDS

• USARSim

• JOODE

• ROBOSIM

• ROSSUM

• PYODE

• UberSim Project at CMU

• SimRobot

• SimRobot and RoboCup

• OpenModelica

• Thyrix

• Tokamak Physics (3D, open source BSD license)

• Newton Game Dynamics (3D, custom free-use license)

• JigLib (3D, open source Zlib license))

• Open Tissue (various, open source Zlib license)

• Siconos

2D Simulators

• Stage

• Box2D

• Chipmunk (2D, open source unrestrictive MIT license)

Commercial Simulators

• SimplySim

• Algoryx / AgX multiphysics toolkit

• Vortex

• Webots

• Havoc(3D, free for non-commercial and inexpensive commercial PC games, fee-based for games above a price limit, non-game applications, and consoles.) Try Havok.

• NVIDIA PhysX (previously Ageia (previously NovodeX))

• COMSOL

• MSRS

• Oxford Dynamics (3D, vehicle sim is fee-based for commercial use, there is a free multibody dynamics library available)

• Pixelux Entertainment (3D, fee-based licensing)

• SPE Simple Physics Engine (3D, free for noncommercial, fee-based for commercial)

• Chrono::Engine (3D, free for noncommercial use, fee-based for commercial)

• True Axis (3D, free for noncommercial, fee-based for commercial with a reasonable indie license option)

• simul-x - A vehicle modeling add-on for Havok and PhysX

More Links

• SimScape

• JPL DARTS/ROAMS

• PADS