A physical robotics simulator, which is able to simulate arbitrary user-defined robots in three-dimensional space. It includes a physical model which is based on rigid body dynamics. To allow an extensive flexibility in building accurate models, a variety of different generic bodies, sensors, and actuators has been implemented. Furthermore, the simulator follows a user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and interaction with the simulated world.
- Microsoft Windows 10 64-bit Version 21H1
- Microsoft Visual Studio Community 2022 Version 17.0.0 or newer. Installing the workload Desktop development with C++ (including the packages MSVC v143 - VS 2022 C++ x64/x86 build tools and Windows 10 SDK 10.0.19041.0 or newer) is sufficient.
- CMake 3.21 or newer
Run Make/Windows/generate.cmd and open the solution Make/Windows/SimRobot.lnk in Visual Studio. Select the desired configuration (Develop is a good start) and build the target SimRobot. Select SimRobot as StartUp Project and select Debug/Start Debugging to run it.
- A 64-bit Linux, e.g. Ubuntu 22.04 LTS
- The following packages (here for Ubuntu 22.04 LTS):
sudo apt-get install clang cmake libbox2d-dev libgl-dev libqt6opengl6-dev libqt6svg6-dev llvm mold ninja-build qt6-base-dev
- (optionally) CLion 2019.3 or newer
Run Make/Linux/generate to generate CMake caches and Make/Linux/compile [Debug|Develop|Release] to compile the code. The executable will be located in Build/Linux/SimRobot/<Debug|Develop|Release>/SimRobot.
Run Make/Linux/generate -c. Open Make/Linux/CMakeLists.txt in CLion as project (not the the one in Make/CMake). In CLion, you can select a build type, e.g. Develop, and then select Run/Debug SimRobot.
- macOS Mojave or newer
- Xcode 11 oder newer
- CMake 3.16 or newer
Run Make/macOS/generate and then open Make/macOS/SimRobot.xcodeproj. Select a scheme, e.g. Develop and select Product/Run.
After SimRobot is started, an example scene file in Scenes can be opened. Then, different parts of the scene graph can be opened by double-clicking them.