ReactPhysics3D is a free and open-source physics library in C++ that was released under the zlib open source license.
The aim of ReactPhysics3D is to implement a 3D physics library in C++ which can be used by someone who needs to deal with a physics simulation in its application.
ReactPhysics3D is cross-platform and it works on Mac OS X, Windows and Linux.
Here are some key features of "ReactPhysics3D":
· Rigid body dynamics
· Discrete collision detection
· Collision shapes (Sphere, Box, Cone, Cylinder)
· Broadphase collision detection (Sweep and Prune using AABB)
· Narrowphase collision detection (GJK/EPA)
· Collision response and friction
· Fully commented code
What's New in This Release: [ read full changelog ]
· The Sweep-and-Prune broad-phase collision detection algorithm has been rewritten according to the technique described by Pierre Terdiman at http://www.codercorner.com/SAP.pdf to be much more efficient than the previous naive implementation.
· The contact solver has been rewritten to use the Sequential Impulses technique from Erin Catto which is mathematically equivalent to the Projected Gauss Seidel technique that was used before. The Sequential Impulses technique is more intuitive.
· Implementation of a dedicated collision detection algorithm for spheres against spheres instead of using GJK/EPA algorithm.
· Make GJK/EPA algorithm more robust for spheres.
· Make possible to use a unique instance of a collision shape for multiple rigid bodies.
· Change the structure of the code for a better separation between the collision detection and the dynamics simulation code.
· Create the API documentation using Doxygen.
· Add Unit tests