This is a personal project I have been working on which implements a rigid body physics simulation.
It includes:
- a broad phase collision pass
- gjk collision detection and epa contact generation
- sequential impulse contact resolution
- friction, restitution
- settling stacked cuboids
Libraries used:
Knowledge relating to rigid body physics simulation is mainly taken from Allen Chou’s tutorial on his blog as well as digging into Box2D and Bullet source code
Many geometric tests are derived by Christer Ericson and take from his book Real Time Collision Detection