Show HN: ARB – A Differentiable Rigid Body Simulation Library Using C++23

Category: library

Tags: rigid-body-simulation, differentiable-physics, cpp23

Score: 6.8/10 (Innovation: 6, Technical: 9, Documentation: 7, Utility: 5)

ARB is a compact C++23 library for differentiable rigid body simulation, implementing efficient algorithms like ABA and CRBA with end-to-end automatic differentiation. It stands out for combining spatial algebra, collision detection, and URDF parsing into a single MIT-licensed library, enabling applications in robotics, graphics, and system identification.

Target audience: robotics engineers, computer graphics developers, machine learning researchers

Repository: https://github.com/wbyates777/Articulated-Rigid-Body · C++ · MIT · 18 stars

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