Dynamics Engine for 2D Kinematic Chains

This project involved implementing a dynamics engine (a.k.a. physics simulator) for a 2D kinematic chain with an arbitrary number of links. The core components of this physics engine were a solver and an integrator, designed to handle external forces and internal constraints, compute accelerations, and update the positions and velocities of the links over time.

Key Features:
- Solver Implementation: Developed the solver to compute accelerations of all bodies in the kinematic chain at each time step using the Newton-Euler algorithm. This involved handling both external forces and internal constraints.
- Numerical Integration: Implemented the Euler integration method to update the positions and velocities of the links based on the computed accelerations, ensuring accurate simulation over time.
- Simulation Environment: Used a custom GUI for real-time visualization of the robot's state during simulation, allowing for interactive testing and debugging.
- Testing and Validation: Conducted extensive testing with 1-link, 2-link, and 3-link robots, adjusting parameters such as friction, time step size, and applied torques to validate the dynamics engine's accuracy and robustness.