ARB v1.0: A C++23 Articulated Rigid-Body Dynamics Library for Computer Graphics

Hi r/cpp,

I’ve just released v1.0 of ARB, a modern, lightweight, header-only C++23 library for articulated rigid-body dynamics aimed primarily at computer graphics and robotics applications.

The library is intended to provide a clean and simple tool for prototyping and rapid development of rigid-body dynamics applications without the complexity and overhead of the larger physics engines  out there.

ARB is based on a differentiable spatial algebra which is used to implement  the articulated body algorithms ABA and RNEA.  ARB supports end-to-end differentiation which enables advanced techniques such as system identification, gradient based optimisation, and machine learning. The lib also  provides collision detection/resolution using GJK/EPA, and has URDF support for model import/export.

My main interest here is in getting some feedback from C++ developers  about ARB syntax and API design. 

Is it easy to use? Are there any features you think are missing? I've used C++23 - should I use C++20?

Available here: ARB

https://redd.it/1trvt4r
@r_cpp