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Abstract: Numerical integration methods based on the Lie group theoretic geometrical approach are applied to articulated multibody systems with rigid body displacements, belonging to the special ...

MUSE是一个轻量化的多刚体动力学求解器。 采用纯C++语言编写，易于在Unix、Linux、Windows等各类操作系统上编译运行。 采用了面向对象的编程方式，将刚体、各类约束、多刚体系统等物理概念以类的形式进行了封装。用户使用时不必了解多刚体动力学方程的具体 ...