Open source, pure Java physics / dynamics library

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+15 Q:

Open source, pure Java physics / dynamics library

I'm looking for a lightweight, pure Java physics engine to do some simulations for robotic motion control.

My requirements:

Rigid body physics
Joint constraints and forces
Convex object collision detection
Lightweight, pure Java so it can be embedded in my application
Ability to run simulations quickly
Handles 50-100 objects comfortably
Open source

Rather than reinventing the wheel, can you recommend any existing libraries that would fit the bill?

p.s. I have Googled already - I'm just keen to get honest opinions from people who have already used or implemented such things!

+2 A:

I would also use JBullet, though its been a couple of years since I last worked with it.

troutinator 2010-09-16 19:26:14

+6 A:

I have used JBullet and JBox2D. They both are good libraries. JBox2D is more actively being changed, but JBullet has slightly larger base.

Just for fun, I was trying to simulate an old physics problem recently, for which I posted the results here.

Amrinder Arora 2010-09-19 10:21:50

Thanks for the pointers! Were there any big differences between JBullet and JBox2D in terms of approach, capabilities or performance?

mikera 2010-09-19 12:12:29

Also it looks like JBox2D is 2D only... may rule it out for some of my applications

mikera 2010-09-19 12:17:19

Hmmm, I just found JBox2D to be easier to work with - but that was probably simply because the exact problem I was working with was more aligned to one of JBox2D examples. But yes, JBox2D is 2D only, and that may be a limiting factor.Btw, I found the performance of JBox2D *very* good - using with a 100 objects etc. A comparison of JBox2D with a different engine (Phys2D) can be found here: http://ciardhubh.de/node/15. That article does mention https://jmephysics.dev.java.net/ as a 3D engine candidate, but I have not worked with it.

Amrinder Arora 2010-09-21 13:23:21

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Open source, pure Java physics / dynamics library

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