C++23 : Articulated-Rigid-Body dynamics library for graphics v1.0 (ABA/RNEA+GJK/EPA+AD)

I have been working on a small C++23 library for articulated rigid-body dynamics for computer graphics, and I have prepared a v1.0 release.

The project uses spatial algebra and currently includes articulated-body algorithms (ABA/RNEA), URDF support, collision detection and resolution functionality (GJK/EPA, including openGJK), automatic differentiation (AD) support, and example/test programs.

I have focused on is keeping everything simple, including the setup: a single line, standard CMake build is enough to download/build all dependencies and run the examples/tests.

The project is still evolving, but v1.0 is intended to mark a stable API and a largely complete core feature set.

I’m interested in feedback from C++ developers, particularly around API design, library structure, performance, and general usability.

Available here: ARB Library

https://redd.it/1to37ao
@r_cpp