For synthetic data generation with concave collision objects, two physics simu- lations techniques are investigated; convex decomposition of mesh models for globally concave collision results, used with the physics simulation library Bullet, and a GPU implemented rigid body solver using spherical decomposition and impulse based physics with a spatial sorting-based collision detection. Using the GPU solution for rigid body physics suggested in the thesis scenes con- taining large amounts of bodies results in a rigid body simulation up to 2 times faster than Bullet 2.83.

High-quality simulation of hydraulic mechanism saves the time and other costs associated with the changes of inappropriately designed circuit. The aim of this thesis is to revitalize the test rig intended for simulating hydraulic circuits in order to verify the results of the simulation program Hyvos used internally by Bosch Rexroth Company. It is expected that the simulation of the hydraulic machinery cycles under the influence of disturbances will be carry out on the test rig and measured data are compared with results of the virtual models which are designed using the mentioned software Hyvos. The work deals with the so called position and pressure control which represent the classical modes of pressing machines or hydraulic press brakes operation cycles. The parameters of the hydraulic closed-loop axis controller for electrohydraulic drives (HACD) are set using the software Bodac.