Open Dynamics Engine: Difference between revisions

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{{Primary sources|date=November 2008}}

{{Infobox software

| name = Open Dynamics Engine

| screenshot = ODE crash.png

| logo =

| logo = Odelogo.jpg

| screenshot =

| screenshot size = 250px

| caption =

| developer = Russell Smith

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

| latest_release_versionlatest release version = 0.1216.6

| 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>

| latest_release_date = {{Start date and age|2012|02|11}}

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

| latest_preview_version =

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

| latest_preview_date =

| operating_system operating system = [[Platform independent]]

| programming language = C/C++

| genre = [[Physics engine]]

| operating_system = Platform independent

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

| genre = [[Physics engine]]

| license website = [[BSD licenses{{URL|BSD]] <ref name="mainpage">[http://www.ode.org/ode.html ODE Main Page]</ref>}}

| website = http://www.ode.org/

}}

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

[[Image:ODE 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]].

==Simulation==

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

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>{{citeCite 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|publisher=Springer|year=2010 |chapter=Extending Open Dynamics Engine for Robotics Simulation |authordate=Drumwright2010 |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, etHeidelberg al|publisher=Springer |pages=38–50 |doi=10.1007/978-3-642-17319-6_7 |isbn=978-3-642-17319-6}}</ref>

==See also==

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

* [[OPAL (software)|OPAL]] -– the Open Physics Abstraction Layer, originally built on top of ODE

* [[PAL (software)|Physics Abstraction Layer]] - The original Physics Abstraction Layer

* [[Newton Game Dynamics]]

* [[Bullet (software)|Bullet]] -– another open source physics engine used in commercial games and movies

* [[Chipmunk (software)|Chipmunk]] -– a similar physics engine intended for 2D applications

* [[Vortex (software)]]

* [[Project Chrono]]

==References==

{{Reflist}}

<references/>

==External links==

* Bitbucket: [httphttps://sourceforgebitbucket.netorg/projectsodedevs/opendeode ODE SourceForge project page]

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

* (Old) [http://www.ode.org (Old)/ Official ODE Homepage]

* (Obsolete) [httphttps://sourceforge.net/projects/pyode/ (Obsolete) Python-ODE Bindings (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}}

[[Category:Computer physics engines]]

[[Category:Free computer libraries]]

[[Category:Software using the BSD license]]

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