Our PhysicsAndMathLibrary ist primarily designed as a high level API in order to simulate many different physical objects in a simple and uniform way.

These physical objects are:

  • cars, motorcycles, etc. (vehicles with 1 - 4 wheels)
  • caterpillars, tanks, etc. (added in version 1.2)
  • hovercrafts
  • airplanes
  • spacecrafts
  • helicopters
  • submarines
  • zeppelins
  • ships
  • complex, animatable bodies (like humans, animals, etc.)
  • swinging bodies
  • simple bodies
  • joint bodies
  • deformable bodies (like clothes, flags, fluids, etc.)
  • breakable bodies and surfaces
  • projectiles (simple mass elements)
  • fully interactive particle systems (added in version 1.2)
  • combined objects (like tanks, etc.)
  • using the CMassElement- and CBonding-Classes additional objects could be simulated

In all simulations the following forces are considered:

  • gravity
  • buoyancy in water and air
  • velocity based friction in water and air (newton friction)
  • static and kinetic ground and contact friction

Improvements to existing game physics engines:

  • mass distributions simply can be changed in realtime in order to simulate damages, structural changes, etc.
  • realtime physical-based animation (forward kinematic -> physical simulation -> inverse kinematic) of complex bodies instead of classical ragdoll physics.  In order to receive a more realistic animation, the original animation poses are corrected by the physics engine.

Further details:

  • simple handling of animations
  • simple simulation of destroyable environments
  • easy to use collision model based on bounding spheres
  • per triangle/quad collision and intersection tests
  • AABB (axis aligned bounding box) and OBB (oriented bounding box) collision tests
  • look-up tables for trigonometric computations
  • efficient object object collision test management on terrain
  • fast square root approximation
  • terrain management (added in version 1.2)
  • destroyable terrain (added in version 1.2)
  • damage models (added in version 1.2)
  • day night cycles and weather (added in version 1.2)
  • complex solar system simulator (added in version 1.2)