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:

• Raylib
• ImGui / rlImgGui (imgui raylib integration)
• MathFu

Knowledge relating to rigid body physics simulation is mainly taken from Allen Chou’s posts about game physics 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

Here is a link to the project’s repository on GitHub

Here is where the latest release can be found