├── .gitignore ├── CHANGES ├── CMakeLists.txt ├── CMakeModules ├── FindCBLAS.cmake ├── FindIPOPT.cmake ├── FindLAPACKLite.cmake ├── FindOpenMP.cmake ├── FindQHULL.cmake ├── FindQPOASES.cmake ├── FindRavelin.cmake └── FindSuperLU.cmake ├── README ├── README.md ├── cmake_uninstall.cmake.in ├── docs ├── Moby ├── XML-structure.tex ├── fixed.nb ├── install.tex ├── prismatic.nb ├── revolute.nb └── universal.nb ├── example ├── README ├── bouncing-ball │ └── bouncing-ball.xml ├── contact-constrained-pendulum │ ├── contact-constrained-pendulum-coldet-plugin.cpp │ ├── contact-constrained-pendulum-init.cpp │ └── contact-constrained-pendulum.xml ├── ellipse │ ├── ellipse-init.cpp │ ├── ellipse-plane-coldet-plugin.cpp │ ├── ellipse.obj │ └── ellipse2D.xml ├── events │ └── rotating-box.xml ├── fixed-joint │ └── fixed-articulated-table.xml ├── gears │ └── pendulum-gears.xml ├── joint-limits │ ├── chain.xml │ ├── limit-double-pendulum.xml │ └── limit-pendulum.xml ├── mrobot │ ├── controller.cpp │ ├── mrobot.pacer │ ├── mrobot.sdf │ └── mrobot.xml ├── parts-feeder │ ├── CMakeLists.txt │ ├── feeder.cpp │ └── feeder.xml ├── passive-walker │ ├── coldet-plugin.cpp │ ├── init.cpp │ ├── walker.sdf │ └── walker.xml ├── planar-joint │ └── constrained.xml ├── plugin-template.cpp ├── polyhedra │ ├── spinning-box-frictional.xml │ └── spinning-box-frictionless.xml ├── reduced-coords │ ├── chain.xml │ ├── double-pendulum.xml │ ├── pendulum-gears-impact.xml │ ├── pendulum-plugin.cpp │ └── pendulum.xml ├── regress.cpp ├── relative-visualization │ └── box-plane.xml ├── rimless-wheel │ ├── coldet-plugin.cpp │ ├── init.cpp │ ├── params.h │ └── wheel.xml ├── rolling-torus │ └── torus.xml ├── simple-contact │ ├── box-plugin.cpp │ ├── cylinder.xml │ ├── ramp.xml │ ├── simplest.xml │ ├── spinning-box-frictional.xml │ └── spinning-box-frictionless.xml ├── sims-in-code │ ├── block.cpp │ ├── doublependulum.cpp │ ├── linearactuator.cpp │ ├── pendulum.cpp │ ├── pushpendulum.cpp │ └── viewer.h ├── stacks │ ├── sphere-stack.xml │ ├── stack.xml │ ├── stack2.xml │ └── stack3.xml ├── tare │ └── pendulum.xml ├── ur10 │ ├── block.obj │ ├── controller.cpp │ ├── meshes │ │ ├── Base.obj │ │ ├── Base.obj.mtl │ │ ├── Forearm.obj │ │ ├── SCHUNK_MPG-80_BASE.obj │ │ ├── SCHUNK_MPG-80_LEFT_FINGER.obj │ │ ├── SCHUNK_MPG-80_RIGHT_FINGER.obj │ │ ├── Shoulder.obj │ │ ├── UpperArm.obj │ │ ├── UpperArm.obj.mtl │ │ ├── Wrist1.obj │ │ ├── Wrist2.obj │ │ ├── Wrist3.obj │ │ ├── centered.Base.obj │ │ ├── centered.Shoulder.obj │ │ ├── schunk_base.obj │ │ ├── schunk_left_finger.obj │ │ └── schunk_right_finger.obj │ ├── model.config │ ├── model.sdf │ ├── schunk_mpg_80 │ │ ├── cvio.dat │ │ ├── driver.out-00000000-0.001000.mtl │ │ ├── driver.out-00000000-0.001000.obj │ │ ├── meshes │ │ │ └── visual │ │ │ │ ├── SCHUNK_MPG-80_BASE.dae │ │ │ │ ├── SCHUNK_MPG-80_LEFT_FINGER.dae │ │ │ │ └── SCHUNK_MPG-80_RIGHT_FINGER.dae │ │ ├── model.config │ │ ├── model.sdf │ │ └── schunk.xml │ ├── ur10.xml │ └── ur10 │ │ ├── meshes │ │ ├── collision │ │ │ ├── Base.dae │ │ │ ├── Forearm.dae │ │ │ ├── Shoulder.dae │ │ │ ├── UpperArm.dae │ │ │ ├── Wrist1.dae │ │ │ ├── Wrist2.dae │ │ │ └── Wrist3.dae │ │ └── visual │ │ │ ├── Base.dae │ │ │ ├── Forearm.dae │ │ │ ├── Shoulder.dae │ │ │ ├── UpperArm.dae │ │ │ ├── Wrist1.dae │ │ │ ├── Wrist2.dae │ │ │ └── Wrist3.dae │ │ ├── model.config │ │ ├── ref_ur10.sdf │ │ └── ur10.sdf └── urdf │ ├── pendulum-urdf.xml │ └── pendulum.urdf ├── include └── Moby │ ├── AABB.h │ ├── AABB.inl │ ├── ADF.h │ ├── ArticulatedBody.h │ ├── ArticulatedBody.inl │ ├── BV.h │ ├── BV.inl │ ├── Base.h │ ├── BoundingSphere.h │ ├── BoundingSphere.inl │ ├── BoxPrimitive.h │ ├── C2ACCD.h │ ├── C2ACCD.inl │ ├── CCD.h │ ├── CCD.inl │ ├── CP.h │ ├── CSG.h │ ├── CollisionDetection.h │ ├── CollisionDetection.inl │ ├── CollisionGeometry.h │ ├── CompGeom.h │ ├── CompGeom.inl │ ├── ConePrimitive.h │ ├── Constants.h │ ├── ConstraintSimulator.h │ ├── ConstraintStabilization.h │ ├── Contact.inl │ ├── ContactParameters.h │ ├── ControlledBody.h │ ├── CylinderPrimitive.h │ ├── DampingForce.h │ ├── DegenerateTriangleException.h │ ├── Dissipation.h │ ├── DummyBV.h │ ├── EventDrivenSimulator.h │ ├── EventDrivenSimulator.inl │ ├── FastThreadable.h │ ├── FixedJoint.h │ ├── GJK.h │ ├── GaussianMixture.h │ ├── Gears.h │ ├── GravityForce.h │ ├── HashClasses.h │ ├── HeightmapPrimitive.h │ ├── ImpactConstraintHandler.h │ ├── ImpactToleranceException.h │ ├── IndexedTetra.h │ ├── IndexedTetraArray.h │ ├── IndexedTetraArray.inl │ ├── IndexedTri.h │ ├── IndexedTriArray.h │ ├── IndexedTriArray.inl │ ├── InvalidIndexException.h │ ├── InvalidStateException.h │ ├── InvalidVelocityException.h │ ├── Joint.h │ ├── LCP.h │ ├── LCPSolverException.h │ ├── LCP_IPOPT.h │ ├── LP.h │ ├── Log.h │ ├── MCArticulatedBody.h │ ├── MissizeException.h │ ├── NQP_IPOPT.h │ ├── Node.h │ ├── NonsquareMatrixException.h │ ├── NumericalException.h │ ├── OBB.h │ ├── OBB.inl │ ├── OSGGroupWrapper.h │ ├── PairwiseDistInfo.h │ ├── PenaltyConstraintHandler.h │ ├── PlanarJoint.h │ ├── Plane.h │ ├── PlanePrimitive.h │ ├── PolyhedralPrimitive.h │ ├── PolyhedralPrimitive.inl │ ├── Polyhedron.h │ ├── Polyhedron.inl │ ├── Primitive.h │ ├── Primitive.inl │ ├── PrismaticJoint.h │ ├── QLCPD.h │ ├── QLCPD.inl │ ├── QP.h │ ├── QP.inl │ ├── RCArticulatedBody.h │ ├── RCArticulatedBodyInvDynAlgo.h │ ├── RecurrentForce.h │ ├── RevoluteJoint.h │ ├── RigidBody.h │ ├── RigidBody.inl │ ├── SDFReader.h │ ├── SSL.h │ ├── SSL.inl │ ├── SSR.h │ ├── SSR.inl │ ├── ScrewJoint.h │ ├── SignedDistDot.h │ ├── Simulator.h │ ├── Simulator.inl │ ├── SingularException.h │ ├── SparseJacobian.h │ ├── SpherePrimitive.h │ ├── SphericalJoint.h │ ├── StokesDragForce.h │ ├── SustainedUnilateralConstraintHandler.h │ ├── SustainedUnilateralConstraintProblemData.h │ ├── SustainedUnilateralConstraintSolveFailException.h │ ├── TessellatedPolyhedron.h │ ├── TessellatedPolyhedron.inl │ ├── Tetrahedron.h │ ├── ThickTriangle.h │ ├── TimeSteppingSimulator.h │ ├── TorusPrimitive.h │ ├── Triangle.h │ ├── TriangleMeshPrimitive.h │ ├── TriangleMeshPrimitive.inl │ ├── Types.h │ ├── URDFReader.h │ ├── UndefinedAxisException.h │ ├── UnilateralConstraint.h │ ├── UnilateralConstraint.inl │ ├── UnilateralConstraintProblemData.h │ ├── UniversalJoint.h │ ├── Visualizable.h │ ├── XMLReader.h │ ├── XMLTree.h │ ├── XMLWriter.h │ ├── insertion_sort │ ├── permute.h │ ├── qpOASES.h │ ├── qpOASES.inl │ └── select ├── programs ├── adjust-center.cpp ├── center.cpp ├── compare-trajs.cpp ├── conv-decomp.cpp ├── convexify.cpp ├── driver.cpp ├── main.cpp ├── objwrl.cpp ├── regress.cpp ├── render-movie-simple.sh ├── render-movie.sh ├── render.cpp └── view.cpp ├── regress ├── absolute-coords.setup ├── bouncing-ball.setup ├── contact-constrained-pendulum.dat ├── contact-constrained-pendulum.setup ├── cylinder.setup ├── fixed-articulated-table.dat ├── fixed-articulated-table.setup ├── gears.setup ├── joint-limits.setup ├── pendulum-urdf.setup ├── planar-joint.setup ├── ramp.setup ├── reduced-coords.setup ├── regenerate-regression-data ├── regression-test ├── rimless-wheel.dat ├── rimless-wheel.setup ├── rolling-torus.setup ├── sitting-box.dat ├── sphere-stack.dat ├── spinning-boxes.setup └── stacks.setup ├── src ├── AABB.cpp ├── ADF.cpp ├── ArticulatedBody.cpp ├── BV.cpp ├── Base.cpp ├── BoundingSphere.cpp ├── BoxPrimitive.cpp ├── BulirschStoerIntegrator.cpp ├── C2ACCD.cpp ├── CCD.cpp ├── CP.cpp ├── CSG.cpp ├── CollisionDetection.cpp ├── CollisionGeometry.cpp ├── Color.h ├── CompGeom.cpp ├── ConePrimitive.cpp ├── ConstraintSimulator.cpp ├── ConstraintStabilization.cpp ├── ContactParameters.cpp ├── ControlledBody.cpp ├── CylinderPrimitive.cpp ├── DampingForce.cpp ├── Dissipation.cpp ├── EulerIntegrator.cpp ├── EventDrivenSimulator.cpp ├── FixedJoint.cpp ├── GJK.cpp ├── GaussianMixture.cpp ├── Gears.cpp ├── GravityForce.cpp ├── HeightmapPrimitive.cpp ├── ImpactConstraintHandler.cpp ├── ImpactConstraintHandlerLCP.cpp ├── ImpactConstraintHandlerNQP.cpp ├── ImpactConstraintHandlerQP.cpp ├── IndexedTetraArray.cpp ├── IndexedTriArray.cpp ├── Integrator.cpp ├── Joint.cpp ├── LCP.cpp ├── LCP_IPOPT.cpp ├── LP.cpp ├── Log.cpp ├── MCArticulatedBody.cpp ├── NQP_IPOPT.cpp ├── OBB.cpp ├── ODEPACKIntegrator.cpp ├── OSGGroupWrapper.cpp ├── OsgTorus.cpp ├── OsgTorus.h ├── PenaltyConstraintHandler.cpp ├── PlanarJoint.cpp ├── PlanePrimitive.cpp ├── PolyhedralPrimitive.cpp ├── Polyhedron.cpp ├── Primitive.cpp ├── PrismaticJoint.cpp ├── QLCPD.cpp ├── RCArticulatedBody.cpp ├── RCArticulatedBodyFwdDynAlgo.cpp ├── RestingContactHandler.cpp.bak ├── RevoluteJoint.cpp ├── RigidBody.cpp ├── Rosenbrock4Integrator.cpp ├── RungeKuttaFehlbergIntegrator.cpp ├── RungeKuttaImplicitIntegrator.cpp ├── RungeKuttaIntegrator.cpp ├── SDFReader.cpp ├── SSL.cpp ├── SSR.cpp ├── ScrewJoint.cpp ├── SignedDistDot.cpp ├── Simulator.cpp ├── SingleBody.cpp ├── SparseJacobian.cpp ├── SpherePrimitive.cpp ├── SphericalJoint.cpp ├── StokesDragForce.cpp ├── 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