Dynamic Animation and Robotics Toolkit


Current versions:

stable 6.5.0
bottle 🍾 high_sierra, sierra, el_capitan

Depends on:

assimp 4.1.0 Portable library for importing many well-known 3D model formats
boost 1.67.0 Collection of portable C++ source libraries
bullet 2.87 Physics SDK
eigen 3.3.4 C++ template library for linear algebra
fcl 0.5.0 Flexible Collision Library
flann 1.9.1 Fast Library for Approximate Nearest Neighbors
freeglut 3.0.0 Open-source alternative to the OpenGL Utility Toolkit (GLUT) library
libccd 2.0 Collision detection between two convex shapes
nlopt 2.4.2 Free/open-source library for nonlinear optimization
ode 0.15.2 Simulating articulated rigid body dynamics
open-scene-graph 3.6.0 3D graphics toolkit
tinyxml2 6.2.0 Improved tinyxml (in memory efficiency and size)
urdfdom 1.0.0 Unified Robot Description Format (URDF) parser

Depends on when building from source:

cmake 3.11.2 Cross-platform make
pkg-config 0.29.2 Manage compile and link flags for libraries

JSON API for dartsim

Formula code on GitHub

Fork me on GitHub