A lightweight 3D rigid body physics engine written c++, focusing on collision detection, contact generation, and impulse-based resolution.
This project is designed as a learning-oriented and research-oriented engine with clear algorithmic structure and explicit physical modeling.
This project is probably not going to have any other updates.
References can be found at ./references.
I haven't fully complete the project in c++, the prototype is completed(see README_Prototype.md), but I had lost my interest in this project and decided to move on to other project.
More things such as learning notes, thoughts, mathematical derivation about this engine can be found at https://emeeeemmmm.github.io/.
The biggest difference between the version in c++ and the prototype is that prototype mainly uses the combination of GJK+EPA+PBD, but in the version in c++ uses SAT+XPBD. From doing this project, I learned a lot and truely amazed by those wonderful ideas, algorithms. When I was ten or younger I heard a saying that we are living in a world simulated by a super computer, looking back how would this computer deal with object collision? Is GJK+EPA, contact manifold the right way? But anyway, these kind of question were all around me while i was doing this project and I know that they are way beyond my ability as a 10th grader. So, I think i will leave this project for now.