Rigid Body Physics, do premade models exist?

Unity Engine
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1

(This was posted in general, but I feel this area may be more appropriate for my question).

I am interested in investigating motion planning for bipedal and quadrupedal robots. I am looking for a rigid body simulator which can 1. be used for dynamic simulation, 2. has existing 3d models to be used.

Bullet physics exists I find it hard to use and somewhat lacking support but there are a ton of 3d rigid body models which have been made and simulated in it.

Can any model made for BulletPhysics be imported into unity? How does this work?

In general how do you compare Bullet Physics with Unity for physics based simulation and reinforcement learning?

2

MuJoCo might be the better choice if you’re looking for accurate robotics simulation. PhysX is optimized for gaming. See this comparison:
https://homes.cs.washington.edu/~todorov/papers/ErezICRA15.pdf
https://homes.cs.washington.edu/~todorov/media/ErezICRA15.mp4

3

Thanks, if havok doesn’t actually compute true rigid body dynamics and ignores coriolis force then that’s a huge fundamental problem. It’s kind of odd someone goes to the trouble of making a physics engine and ignores that!