I tried to make a robot simulator with rapier, with a mixed sucess: https://grgv.xyz/blog/simulator4/ https://grgv.xyz/blog/simulator4/ The performance is great

I tried to make a robot simulator with rapier, with a mixed sucess: https://grgv.xyz/blog/simulator4/ https://grgv.xyz/blog/simulator4/ The performance is great but realism of joints and motors is lacking, and not suitable realistic simulation.