Jolt Physics

Box3D is an open-source 3D physics engine for games, written in portable C17. It provides rigid-body simulation with collision detection, continuous collision detection, contact events, convex hulls, capsules, spheres, triangle meshes, height fields, multiple shapes per body, collision filtering, ray and shape casts, overlap queries, sensors, and a character mover. Its physics system includes a robust Soft Step rigid-body solver, continuous physics, island-based sleeping, and revolute, prismatic, distance, motor, weld, and wheel joints with limits, motors, springs, friction, and force events. The data-oriented system uses multithreading and SSE2 or Neon SIMD, supports cross-platform determinism and recording and replay, and is optimized for large piles of bodies. The core library has no dependencies beyond the C runtime and libm on Unix, can be integrated with CMake as the box3d::box3d target, and builds on Windows, Linux, macOS, and WebAssembly; its samples use sokol and Dear ImGui.

ammo.js is a JavaScript port of the Bullet physics engine for browser-based 3D applications, produced by translating Bullet's C++ source with Emscripten. It provides autogenerated JavaScript bindings for Bullet classes and functions, accessed through the `Ammo.*` namespace, and includes examples and demos for rigid bodies, soft bodies, vehicles, heightmaps, and WebGL. The project includes a prebuilt distribution and can also be built with Emscripten and CMake; it is licensed under the zlib license.

Rabbet is a from-scratch C++ 3D game engine with a sparse-set entity-component system, versioned entity handles, dense component pools, and a system-and-resource runtime. Its OpenGL 4.1 renderer provides a forward path with metallic-roughness PBR, a Phong fallback, lighting and shadow maps, emissive surfaces, optional image-based lighting, post-processing, CPU particles, and heightmap or noise terrain. The Forge editor provides a dockable ImGui workspace around a render-to-texture viewport, asset thumbnails, hierarchy reparenting, click-to-pick, snapping gizmos, and Play/Pause/Step/Stop controls that snapshot and restore scenes. Assets use stable UUIDs and .import sidecars; models, textures, audio, materials, shaders, prefabs, and scenes are supported, with scenes stored as readable JSON. Lua behaviors run through sol2 with live hot-reload and inspector-editable fields, while physics uses Jolt rigidbodies and audio uses miniaudio. The repository includes the engine, editor, examples, and tests, including the Orb Hunt demo game. It uses CMake 3.24 or later and a C++20 compiler, supports macOS and Linux, fetches pinned dependencies during configuration, and is licensed under Apache License 2.0.

mjbatch is a Python library for running thousands of MuJoCo physics simulations in parallel on CPUs. It uses a C++ thread pool with the Python GIL released, provides live array access to simulation states and controls across a batch through bindings to MjData fields, and supports per-simulation model parameters with expansion of MjModel fields and recomputation of derived constants. The library includes examples for reinforcement learning, model-predictive control, system identification, and hardware co-design, including robot controllers, predictive-sampling control, parameter fitting, and joint optimization of robot properties and controls. It is distributed under the Apache-2.0 license.

Project SuperDex is a unified simulation platform for dexterous manipulation research, developed by Facebook Research. It combines SuperDex Physics, a contact-first physics engine designed for tactile manipulation and stable contact; SuperDex Robotics, an SDK for composing robot definitions, controllers, sensors, actuators, and simulation configurations; SuperDex Studio, a desktop GUI for creating and validating robot, mesh, task-prefab, and scene assets; and SuperDex Lab, a simulation harness with a Gymnasium-style API for reinforcement learning, model-predictive control, and system identification. The project provides Python support with pre-built wheels and can also be built from C++ sources. Its first-party source code is licensed under Apache 2.0, while assets and documentation use CC-BY-4.0 except where otherwise noted; third-party components retain their own licenses. VR-based teleoperation is described as a planned module.