This is a tiny project, which utilizes my own implementation of Runge-Kutta ODE solver to numerically integrate the dynamics of a double pendulum. The computation is implemented from scratch using numpy, rendering is done via pygame.
More examples of ODE solvers and their applications can be found in my Computational Mathematics Repository. The derivation of pendulum's Lagrange equations can be found here.
Install Python dependencies first:
pip3 install numpy pygame
Execute the following script to simulate pendulum in free environment (no dissipation, external forces, etc.)
python3 demo_free.py
Execute the following script to run an interactive simulation. Press [LMB] to grab the lower ball, or [RMB] to grab the upper one. To compensate for the excess energy produced by interaction, a viscous friction was implemented.
python3 demo_interactive.py
