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

Build and run to see more examples!

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

$ make

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

MSVC is a prerequisite. Simply run:

> build.bat

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

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].

• [1] https://dl.acm.org/doi/10.1111/cgf.14105
• [2] https://ieeexplore.ieee.org/document/2083
• [3] https://graphics.stanford.edu/courses/cs468-01-fall/Papers/van-den-bergen.pdf
• [4] https://dl.acm.org/doi/10.1145/360767.360802
• [5] http://media.steampowered.com/apps/valve/2015/DirkGregorius_Contacts.pdf
• [6] https://research.ncl.ac.uk/game/mastersdegree/gametechnologies/previousinformation/physics5collisionmanifolds/