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#author("2019-11-20T11:09:21+09:00","springhead","springhead")
#author("2021-10-18T10:22:36+09:00","spr","spr")
// Springhead Project Website (en)

RIGHT:Japanese: [[top]]

* About Springhead [#ecf9b3f8]

Sprinthead is a virtual reality development environment with a focus on real-time rigid-body motion simulator.

Sprinthead has following feachers as a physics simulator.
:Joint does not come off|Degrees of freedom reduction method (Featherstone's method: not coming off joint) can be used with LCP (contact calculation) at the same time. 
:Hard to oscillate|Stable simulation (including controller) has been achieved by incorporating spring damper and so on as constraint conditions. 
:Fast but does not pass through|Judges contact between convex shapes using our own continuous contact determination algorithm.
:Simulation states can be stored/restored|Can go back to any time step, and compliant trajectory tracking can be made.

Following appliction support functions are provided.
- Can be used from script language Python. Cooperation with built-in Python.
- Support for making characters and virtucal robots. 
- Connecting function with haptic interface (multi-rate haptic rendering).

See [[Introduction>screenshot]] and [[Document>document]] for details.

* Documents [#u4d54570]

- [[User Document (Google Translated):http://translate.google.co.jp/translate?sl=ja&tl=en&js=n&prev=_t&hl=ja&ie=UTF-8&u=http%3A%2F%2Fspringhead.info%2Fdailybuild%2Fgenerated%2Fdoc%2FSprManual%2Fmain_html.html]]
- [[How to use CMake in Springhead (Google Translated):https://translate.google.co.jp/translate?sl=ja&tl=en&js=y&prev=_t&hl=ja&ie=UTF-8&u=http%3A%2F%2Fspringhead.info%2Fdailybuild%2Fgenerated%2Fdoc%2FHowToUseCMake%2Fmain_html.html]]
- [[How to use CMake in Springhead (Google Translated):https://translate.google.co.jp/translate?sl=ja&tl=en&js=y&prev=_t&hl=ja&ie=UTF-8&u=http%3A%2F%2Fspringhead.info%2Fdailybuild%2Fgenerated%2Fdoc%2FBuildUsingCMake%2Fmain_html.html]]
- [[Document for Developer (Google Translated):https://translate.google.co.jp/translate?sl=ja&tl=en&js=y&prev=_t&hl=ja&ie=UTF-8&u=http%3A%2F%2Fspringhead.info%2Fdailybuild%2Fgenerated%2Fdoc%2FDevelopper%2Findex.html]]

- [[Introduction of SprBlender:https://docs.google.com/document/d/1YGmA3rhcEPgML7tM9V6dhXDfxpBej1zmQHjTP1-7TOc/edit?pli=1]]

* Recent Release [#i2797ec9]
core/src/Samples/Physics/BoxStack will be a good start point.

- Latest current version for development~
Clone or download from Github https://github.com/sprphys/Springhead with submodules.

- Preview version : Springhead2 v1.0preview (2012 Spring) &ref(download/Springhead2_2012_05_02.tgz);

- Statble version : Springhead2 v0.2 (2007 Spring) &ref(download/Springhead2_2007_04_21.tgz);

- Newest development version, Past versions : see [[Download>download]]