Features

Done

Collision detector

• Discrete collision detection
• Primitives: Plane, Ray, Sphere, Box
• Intersection, Contact normal, Penetration depth, Contact point calculation (GJK, EPA)
• Bounding sphere, AABB, OBB
• Ray tracing

Collision resolver

• Static rigid bodies
• Dynamic rigid bodies
• Stable stacking
• Constraint-Based resolution

Integrator

• Static bodies
• Dynamic bodies
• Linear motion
• Force generators
• Object groups
• Angular motion
• Friction

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Planned

Collision detector

• Swept sphere based continuous collision detection
• Primitives: Triangle, Cone, Cylinder, 8-DOP, Convex hull
• Sphere tree, AABB tree, OBB tree, 8-DOP tree, Convex Hull tree
• Space partitioning tree
• Narrow phase collision detection
• Broad phase collision detection
• Compound geometries

Collision resolver

• Island based sleeping
• The time of impact
• Constraints

Integrator

• Kinematic bodies
• Impulse generators
• Soft Body Physics
• Liquids Physics
• Gases Physics
• Clothes Physics
• Ragdolls