From 0cfe7eaad392b9a18ba200f7f7ff85b60411c577 Mon Sep 17 00:00:00 2001
From: Joss Salton <145990319+SaltyJoss@users.noreply.github.com>
Date: Tue, 24 Feb 2026 12:48:13 +0000
Subject: [PATCH] Update README with task completion and new references
---
README.md | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/README.md b/README.md
index 06afccb..092ca83 100644
--- a/README.md
+++ b/README.md
@@ -95,12 +95,15 @@ Download the latest release of DSFE from `Release` in the `DSFE GitHub Repositor
* [ ] Support `multiple articulated systems` within a single simulation instance
* [ ] Extend DSFE to support `other classes of dynamical systems` outside robotic manipulators
* [ ] Further `extend physcial modelling` for different robot models (humanoid, legged)
- * [ ] Seperate physics/mathematics core from the GUI and visualisation layers
+ * [x] Seperate physics/mathematics core from the GUI and visualisation layers
* [ ] Explore migration to a `CMake-only` build system
* [ ] Explore `DX11` and `Vulkan` alternatives
* [ ] Get DSFE to work on `Linux`
* [ ] Explore `non-x64 systesm` support
* [ ] Explore the adoption of `standardised URDF XML` in place of the current DSFE json format
+ * [ ] Implement unit tests for each method relevant to numerical analysis.
+ * [ ] Implement solution to current friction model (Seems to be introducing stiffness into RK4/RK45?) - `LPV or Karnopp approach maybe?`
+ * [ ] Need to look at using CRBA instead of just looping through a mass matrix loop
@@ -137,6 +140,7 @@ The software itself is made of 3 seperate solutions that are under the GPL-3.0 L
* [nlohmann Json][Nlohmann-Json-url] for integration of .json files within c++, allowing robots to have defined properties that can be easily retrieved upon loading
* [HDF5][HDF5-url] for storing structured time-series data from robotic arm simulation runs for post-analysis and comparisons of integration methods performance and stability
* [stb image][stb-image-url] for lightweight loading of png and jpgs files previously used in cubemaps
+* [SSAO logic][SSAO_url] was taken and derived from [SemiWaker][SemiWaker_url]'s SSAO repo - please remember this for any logic SSAO-related.
(back to top)
@@ -188,3 +192,5 @@ The software itself is made of 3 seperate solutions that are under the GPL-3.0 L
[vispa-repo]: https://github.com/AirbusDefenceAndSpace/vispa
[saltyjoss]: https://github.com/SaltyJoss
[citation-url]: https://github.com/SaltyJoss/RoboticArm_MathModelling/blob/Main/CITATION.cff
+[SSAO_url]: https://github.com/semiwaker/SSAO_term_project
+[SemiWaker_url]: https://github.com/semiwaker