Physics-Engine

a 3D physics engine written in C++

Features

• Impulse-based rigid-body dynamics
• Spring and position constraints
• BVH construction for static bodies and broad phase BVH traversal
• Mid phase AABB collision detection
• Narrow phase GJK and EPA collision detection
• Sphere, box, cylinder, capsule, and convex polyhedron shapes
• Static and dynamic bodies
• Locked rotation for dynamic bodies
• Sleeping
• Ray casting all shapes except capsules
• Car joint (spring systems that roughly model car wheels & suspension)