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VDSim

Open-core vehicle dynamics simulator — bridging the autonomy stack (throttle / pedal / path) and chassis design (hardpoint / multibody) in a single C++17 + Python ABI.

GitHub PoC summary v3 Theory

Status

  • v0.5: terrain + Ld5 stunt driving; parts catalog + scene runtime (--scene=), GUI catalog API.
  • Physics: LuGre tire default on (lugre.enabled); opt-in MF2002 .tir backend
  • belt transient (L1–L5); opt-in drivetrain v2 (powertrain: — 2D engine map + gearbox + shift policy); kinematic fallback via tire.kinematic_fallback or --no-lugre.
  • Tests: 328 / 328 ctest (2026-06-10, main).
  • Roadmap: Product roadmap — shipped vs planned by subsystem.
  • User guide: Catalog & physics options.
  • 10 CLI demo binaries, Python bindings, CARLA-ready raycast ABI, Web GUI (3D viewer + catalog/scene authoring).

Two ladders

VDSim 의 차별화 — single ABI 안에서 두 사다리 m × n 매트릭스.

Dynamics ladder (fidelity)

Tier DOF Status
Ld1-Bicycle 5 done
Ld2-SevenDOF 7 done
Ld3-FourteenDOF 14 (sprung 3 + unsprung 4) done
Ld4-MultibodyKinematic hardpoint FK + hard-joint DAE shipped M1–M7 (spec)
Ld5-Free3D quaternion 6-DOF + hub contact shipped (v0.4 stunt); terrain → v0.5

Control ladder (abstraction)

Tier Input Status
Lc1-PerWheel motor / brake torque per wheel via lowering
Lc2-AxleTorque axle drive / brake via lowering
Lc3-FxTotal longitudinal force via lowering
Lc4-Pedal throttle / brake / steer (CARLA-호환) primary
Lc5-AxTarget ax_target done (PI + FF)
Lc6-VTarget v_target done (cascade PI)
Lc7-PathCurvature v_target + κ (Pure Pursuit) done
Lc8-Waypoint path + lookahead done (figure-8 demo)

Quick start

git clone https://github.com/Onlyti/VDSim
cd VDSim
cmake -G Ninja -B build -DCMAKE_BUILD_TYPE=Debug \
      -DVDSIM_BUILD_PYTHON=ON -DVDSIM_BUILD_CARLA_PLUGIN=ON
cmake --build build -j

# Run a scene (catalog fleet + maneuvers materialized at launch)
build/bin/vdsim_realtime --scene=configs/scenes/l3_sedan_kinematics.yaml

# Launch the 3D viewer (real-time web viewer + live sim)
python3 gui/server.py --port 8100 &
# → browse http://localhost:8100

What to read