Realtime 3D Physics Engine

Overview

This project is a simulation tool real-time rigid body dynamics. Developed in C++ and rendered with OpenGL.

Experience the engine in motion:

Full Video Demo

Features

• Rigid Body Dynamics:
  Simulates 3D objects with variable properties
  Adjustable density, dimensions, resitution(bounciness), initial velocity, and initial transforms per object

• Dynamic Gravity:
  Customizable gravity strength and direction.

• Static Objects:
  Supports unmovable objects with infinite mass

• Impulse-Based Collision Resolution:
  Realistic collision responses computed via impulse methods with explicit Euler integration

• Convex Shape Support:
  The engine supports collision detection for any convex shape including spheres, polygons, and custom geometries

• Broad and Narrow Phase Collision Detection:
  Axis allgned boudning boxes are used for the narrow phase, and the Seperating Axis Therom is implemented for the narrow phase.
  Sutherman-Hodgeman clipping is used to detect colisions points

Acknolowdgements

Thanks to "Two-Bit Coding" and "blackedout01" on Youtube for physics tutorials.
Thanks to Chris Heckler for his artiles on RBD simulation. https://www.chrishecker.com/Rigid_Body_Dynamics