Open Dynamics Engine: Difference between revisions

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{{Infobox software

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

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

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| latest release version = 0.16.6

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| 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>

The '''Open Dynamics Engine (ODE)''' is a [[physics engine]]. Its two main components are a [[rigid body dynamics]] simulation engine and a [[collision detection]] engine. It is [[free software]] licensed both under the [[BSD license]] and the [[LGPL]].

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

ODE was started in 2001 and has already been used in many applications and games, such as [[BloodRayne 2]].

[[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]].

Supported Geometries:

* [[Box]]

ODE was started in 2001 and has 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]]''.

* [[Sphere]]

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

==Overview==

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

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]].

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

==Simulation==

Higher level environments that allow non-programmers access to ODE include [[Player Project]], [[Webots]], [[Opensimulator]], [[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>{{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}}

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

* [[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}}

==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://opende.sf.net/wiki A wiki on ODE]

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

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

* (Obsolete) [https://sourceforge.net/projects/pyode/ 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:GameComputer physics engines]]

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[[Category:Free computer libraries]]

[[Category:Software using the BSD license]]

[[Category:Game engines]]

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