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raw-physics

Welcome to raw-physics, a real-time rigid body physics simulator.

example1

example2

example3

Build and run to see more examples!

Building

Linux and OS X

You need libglew-dev and libglfw3-dev. Simply run:

$ make

The binary will be available in ./bin/release/raw-physics.

Windows

MSVC is a prerequisite. Simply run:

> build.bat

The binary will be available in ./bin/raw-physics.

References

Collision response was implemented based on Detailed Rigid Body Simulation with Extended Position Based Dynamics [1]. Collision detection was implemented with the help of GJK [2] and EPA [3]. The contact manifold generation was implemented using Sutherland-Hodgman algorithm [4] in 3-dimensions, Robust Contact Creation for Physics Simulations [5] and the Collision Manifolds Tutorial from Newcastle University [6].