Boris Karavasilev - Master's thesis
For my MSc. thesis, completed in September 2023, I developed a first-of-its-kind purely data-oriented implementation of the Articulated body algorithm also known as Featherstone’s algorithm for the Physics team at Unity. This algorithm is useful for simulating kinematic chains such as robotic arms and pendulums as it has zero joint error and is fast to compute. My implementation performed 10x faster than the equivalent feature of PhysX 4.1 and will be eventually released as part of the Unity Physics package.