Ershany / MTRXEngine

MTRXEngine

Author:

Mohamed Kazma

Description:

A basic C++ based physics engine which uses some libraries like GLM, SPDLOG, GLAD, GLFW.

• Implements rigidbody dynamics with force and torque integration.
• Implements force generators that can be used to simulate certain forces like gravity, drag, buoyancy, stiff springs, etc...
• Implements a basic collision detection system with basic bounding volumes (sphere, capsule, box).
• Implements convex shape colliders with GJK Collision detection
• Basic raycasting that can be used to grab a certain collider using a certain ray with the option to filter out certain colliders
• Very rough implementation of Bounding Volume Hierarchies(untested) that can be used to optimize collision detection checks

Book Sources

These are some of the books that i have used as inspiration:

Real-Time Collision Detection - Christer Ericson
Game Physics Engine Development - Ian Millington
Game Engine Architecture - Jason Gregory

Fixing timesteps:

https://web.archive.org/web/20180321070852/https://.gafferongames.com/post/fix_your_timestep

GJK implementation sources:

https://caseymuratori.com/blog_0003
http://www.dyn4j.org/2010/04/gjk-gilbert-johnson-keerthi/#gjk-minkowski
http://vec3.ca/gjk/implementation/
http://in2gpu.com/2014/05/18/gjk-algorithm-3d/

Segment-Segment minimum distance implementation:

http://geomalgorithms.com/a07-_distance.html#dist3D_Segment_to_Segment

TRELLO

https://trello.com/b/Cwb55iBt/mtrx-engine