Orbitals

WIP 3D Physics Engine

A 3D physics engine. I got sidetracked by MinkowskiSum, but I hope to come back to this soon Back on track!

Controls:

• WASD - move camera
• Click and drag - rotate camera

Current Features:

• 3D rendering
• Support for spheres and boxes
• Camera controls
• Broadphase collision detection using AABBs
• Narrowphase collision detection using GJK/EPA(need to add manifold generation) or SAT
• Contact manifold generation
• Collision resolution using seqential impulse solver
• Friction/Restitution

Build Requirements:

GLM for math, GLEW 2.0 or higher for OpenGL

References:

• Online resources

  • General
    • Allen Chou, Game Physics Series - allenchou.net
    • Jake Tyndall, 3D Convex Collision Detection - hacktank.net
    • Erin Catto, Numerous publications - box2d.org
    • Nilson Souto, Constrained Rigid Body Simulation - toptal.com
  • SAT Algorithm
    • Dirk Gregorius, The Seperating Axis Test Between Convex Polyhedra - link
  • Collision Resolution
    • Randy Gaul, Modelling and Solving Physical Constraints - tutsplus.com (use QuickLaTeX if equations don't show)
    • Chappuis, Daniel. "Constraints derivation for rigid body simulation in 3D." (2013). -link
    • Catto, Erin. "Iterative dynamics with temporal coherence." Game developer conference. Vol. 2. No. 4. 2005. -link

• Books

  • Ericson, Christer. Real-time collision detection. CRC Press, 2004.
  • Eberly, David H. Game physics. CRC Press, 2010.
  • van den Bergen, G. Collision detection in interactive 3D environments. 2004.

See Also:

• Minkowski sum calculator
• GJK distance calculator