Software Simulator for Dynamic Real-Time Systems

Abstract

This thesis investigates the use of a general purpose simulator softwarepackage to encapsulate a physics engine (Open Dynamics Engine) and ascripting language (Lua) for use in place of mathematical models in traditionaltesting and simulation of dynamic systems. The principles behinda physics engine is explored and a scripting language is introduced as anembedded part of the server application. In the end, a software package ispresented which facilitates the use of either the scripting language or thephysics engine in a traditional external control system. The software packageincludes the simulation software, example client code, a 3D visualizerfor the physics engine and a set of documentation for the program. Thesimulator supports some basic rigid-body mechanics, and running of Luascripts of an arbitrary size and complexity.