SIMPACK

SIMPACK is a 3D multibody dynamics engine that provides its users with a convenient way to simulate and visualize their assembled mechanisms with ease. This fully functional implementation is entirely written in Java, employing the graphics library Java3D as well as the math library Colt.

To begin the project, a Java port of Open Dynamics Engine (ODE), a popular physics engine written in C/C++, was utilized. This allows for seamless integration and a more streamlined process. The Russell Smith LCP solver and an iterative Gauss-Seidel solver were also implemented as part of SIMPACK.

At present, users can successfully employ hinge joints, slider joints, and contact joints for their simulations. Additional joint types are already in development and will be implemented in due course.

SIMPACK sets itself apart with its exclusive features beyond those offered by ODE. The solution now includes a Baraff linear-time Lagrange method solver, the GJK method for processing collision detection for generic convex objects, DEEP for penetration depth evaluation, and a hierarchy-of-convex-objects complex object for representing a generic meshed object.

All in all, SIMPACK is a reliable, feature-packed software that simplifies the work of simulating and visualizing complex mechanisms for its users, with an impeccable Java implementation demonstrating its advanced capabilities.