Further notes

Goals of Exudyn

After the first development phase (2019-2023), it

• is a moderately large (wheels have only sizes of 2MB on Windows and 4MB on Linux, without fast Exudyn options) multibody library, which can be easily linked to other projects,

• contains basic multibody rigid bodies, flexible bodies, joints, contact, etc.,

• includes a large Python utility library for convenient building and post processing of models,

• allows to efficiently simulate small scale systems (compute \(100\,000\)s of time steps per second for systems with \(n_{DOF}<10\)),

• allows to efficiently simulate medium scaled systems for problems with \(n_{DOF} < 1\,000\,000\),

• is a safe and widely accessible module for Python,

• allows to add user defined objects and solvers in C++,

• allows to add user defined objects and solvers in Python,

• allows multi-threaded parallel computing,

• includes Lie group integration,

• includes interfaces for robotics and ROS,

• includes interfaces for reinforcement learning (stable-baselines3), pytorch and artificial intelligence,

• includes kinematical trees with minimal coordinates.

Future goals (2024-2026) are:

• add specific and advanced connectors/constraints (extended wheels, contact, control connector)

• automatic step size selection for second order solvers (planned 2025),

• add 3D beams and plates (first attempts exist; planned 2024),

• export equations (planned, 2025),

• add GPU support (planned, 2025).

For solved issues (and new features), see section ‘Issues and Bugs’, Section Issue tracker. For specific open issues, see trackerlog.html – a document only intended for developers!