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SaltyJoss merged 1 commit into from
Feb 24, 2026
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Update README with task completion and new references #77

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8 changes: 7 additions & 1 deletion README.md
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Expand Up @@ -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

<br />

Expand Down Expand Up @@ -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.

<p align="center">(<a href="#readme-top">back to top</a>)</p>

Expand Down Expand Up @@ -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
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