基于 antlr4 的多种数据库SQL解析器，获取SQL中元数据，可用于数据平台产品中的多个场景：ddl语句提取元数据、sql 权限校验、表级血缘、sql语法校验等场景。支持spark、flink、gauss、starrocks、Oracle、MYSQL、Postgresql，sqlserver,、db2等

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.