Open Dynamics Engine: Difference between revisions

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{{Infobox software

[[Image:ODE_buggy.png|thumb|A simple vehicle driving over a ramp.]]

[[de:| name = Open Dynamics Engine]]

[[Image:ODE_crash.png|thumb|A collision with many objects.]]

| screenshot = ODE crash.png

| logo = Odelogo.jpg

| screenshot size = 250px

| developer = Russell Smith

| released = {{Start date and age|2001|05|08}}

| latest release version = 0.16.6

| latest release date = {{Start date and age|2025|1|16}}<ref>{{cite web|url=https://bitbucket.org/odedevs/ode/downloads/|title=Downloads|access-date=2025-05-10}}</ref>

| repo = {{URL|https://bitbucket.org/odedevs/ode}}

| programming language = [[C/C++]]

| operating system = [[Platform independent]]

| genre = [[Physics engine]]

| license = [[BSD licenses|BSD]]<ref name="ODE's license">[http://www.ode.org/ode-license.html ODE's license]</ref>

| website = {{URL|http://www.ode.org/}}

}}

[[Image:ODE_buggyODE buggy.png|thumb|A simple vehicle driving over a ramp. This demo is distributed with the ODE source code (demo_buggy).]]

[[Image:ODE_crashODE crash.png|thumb|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.<ref>{{Cite web |title=Open Dynamics Engine - Intel Threading Building Blocks [Book] |url=https://www.oreilly.com/library/view/intel-threading-building/9780596514808/ch11s14.html |access-date=2023-04-08 |website=www.oreilly.com |language=en}}</ref> It is [[free software]] licensed both under the [[BSD license]] and the [[LGPL]].

ODE was started in 2001 and has already 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''.<ref>{{Cite web |title=odedevs / ode / drawstuff |url=https://bitbucket.org/odedevs/ode/src/master/drawstuff/ |access-date=2023-04-08 |website=bitbucket.org}}</ref> It supports several geometries: box, sphere, capsule (cylinder capped with hemispheres), [[triangle mesh]], cylinder and [[heightmap]].

== Purpose Simulation==

Higher level environments that allow non-programmers access to ODE include [[Player Project]], [[Webots]], [[Opensimulator]], [[anyKode Marilou]] and [[CoppeliaSim]].

The Open Dynamics Engine is used for simulating the dynamic interactions between bodies in space. It is not tied to any particular graphics package.

== Supported Geometries ==

* [[Box]]

* [[Sphere]]

* [[Capsule]] (cylinder capped with hemispheres)

* [[Triangle mesh|Trimesh]] (dynamic trimesh and trimesh-trimesh collisions are still incomplete)

* [[Cylinder (geometry)|Cylinder]] (currently in the unstable release)

ODE is a popular choice for robotics simulation applications, with scenarios such as mobile robot locomotion<ref>{{Cite book |last1=Brezina |first1=Tomas |url=https://books.google.com/books?id=AZu-yVo1MIsC&dq=%22Open+Dynamics+Engine%22+-wikipedia&pg=PA215 |title=Recent Advances in Mechatronics: 2008 - 2009 |last2=Jablonski |first2=Ryszard |date=2009-11-29 |publisher=Springer Science & Business Media |isbn=978-3-642-05022-0 |language=en}}</ref><ref>{{Cite journal |last1=Yıldırım |first1=Şahin |last2=Arslan |first2=Erdem |date=2018-08-01 |title=ODE (Open Dynamics Engine) based stability control algorithm for six legged robot |url=https://www.sciencedirect.com/science/article/pii/S0263224118302422 |journal=Measurement |language=en |volume=124 |pages=367–377 |doi=10.1016/j.measurement.2018.03.057 |s2cid=70264565 |issn=0263-2241|url-access=subscription }}</ref> and simple grasping. ODE has some drawbacks in this field, for example the method of approximating friction and poor support for joint-damping.<ref>{{Cite book |last1=Drumwright |first1=Evan |last2=Hsu |first2=John |last3=Koenig |first3=Nathan |last4=Shell |first4=Dylan |title=Simulation, Modeling, and Programming for Autonomous Robots |chapter=Extending Open Dynamics Engine for Robotics Simulation |date=2010 |editor-last=Ando |editor-first=Noriaki |editor2-last=Balakirsky |editor2-first=Stephen |editor3-last=Hemker |editor3-first=Thomas |editor4-last=Reggiani |editor4-first=Monica |editor5-last=von Stryk |editor5-first=Oskar |chapter-url=https://link.springer.com/chapter/10.1007/978-3-642-17319-6_7 |series=Lecture Notes in Computer Science |volume=6472 |language=en |___location=Berlin, Heidelberg |publisher=Springer |pages=38–50 |doi=10.1007/978-3-642-17319-6_7 |isbn=978-3-642-17319-6}}</ref>

==See also==

{{Portal|Free and open-source software|Video games}}

* [[List of games using physics engines]]

* [[PALOPAL (software)|PAL– the Open (Physics Abstraction Layer)]] a free (LGPL and BSD licensed) and, [[openoriginally source]]built [[crosson platform]]top [[physicsof engine]]ODE

* [[Newton Game Dynamics]]

* [[OPAL (software)|OPAL (Open Physics Abstraction Layer)]], a free (LGPL and BSD licensed) and [[open source]] [[cross platform]] [[physics engine]] [[API]] abstraction system.

* [[Bullet (software)|Bullet]], a– freeanother (zlibopen licensed)source andphysics [[openengine source]]used [[crossin platform]]commercial [[physicsgames engine]].and movies

* [[HavokChipmunk (software)|HavokChipmunk]] Physics– /a Havoksimilar FX]], commercial [[physics engine]] [[middleware]] [[Software development kit|SDK]]intended for computer and video2D gamesapplications

* [[Vortex (software)]]

*[[PhysX|PhysX SDK]], commercial [[realtime]] [[physics engine]] [[middleware]] [[Software development kit|SDK]] developed by [[AGEIA]]

* [[Project Chrono]]

**[[AGEIA]] also designed a for dedicated [[PPU]] ([[Physics]] Processing Unit) expansion card designed to accelerate the PhysX SDK

*[[Close to Metal|CTM (Close To Metal)]], [[AMD]]/[[ATI]]'s competing [[GPGPU]] technology for ATI Rade-based [[GPU]]s

==References==

**[[NVIDIA Corporation|NVIDIA Corporation]]

{{Reflist}}

*[[CUDA|CUDA (Compute Unified Device Architecture)]], [[NVIDIA]]'s competing [[GPGPU]] technology for NVIDIA GeForce-based [[GPU]]s

**[[ATI Technologies]]

*[[Graphics processing unit|Graphics Processing Unit (GPU)]]

*[[Stream processor|Stream Processor]]

*[[Shader]]

* [[HLSL2GLSL]]

*[[Lib Sh|Sh, a GPGPU library for C++]]

*[[Stream programming]]

*[[GPGPU|GPGPU (General-Purpose Computing on Graphics Processing Units)]]

* [[Graphics processing unit]]

** [[Comparison of ATI Graphics Processing Units]]

** [[Comparison of NVIDIA Graphics Processing Units]]

** [[Graphics card]]

*[[Physics processing unit|Physics Processing Unit (PPU)]]

*[[Audio Processing Unit|Audio_Processing_Unit (APU)]]

==External links==

* Bitbucket: [httphttps://www.odebitbucket.org Official/odedevs/ode ODE Homepageproject page]

* [http://ode-wiki.org/wiki/ Open Dynamics Engine (ODE) Community Wiki] {{Webarchive|url=https://web.archive.org/web/20160303092441/http://ode-wiki.org/wiki/ |date=2016-03-03 }}

* [http://sourceforge.net/projects/opende ODE SourceForce project page]

* (Old) [http://opendewww.sfode.netorg/wiki A wiki onOfficial ODE Homepage]

* (Obsolete) [httphttps://sourceforge.net/projects/opendepyode/ Python-ODE SourceForce projectBindings page(pyode)]

* [http://www.ode4j.org/ The ode4j project, a Java port of ODE]

* [https://bitbucket.org/horizongir/ode.net/ The ODE.NET project, a C# wrapper for ODE] {{Webarchive|url=https://web.archive.org/web/20160915115113/https://bitbucket.org/horizongir/ode.net/ |date=2016-09-15 }}

{{Physics engines}}

{{cvg-software-stub}}

[[Category:Computer physics engines]]

[[Category:Free computer libraries]]

[[Category:Software using the BSD license]]

{{cvgVideogame-software-stub}}

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