摘要：OVERVIEW OF THE ENGINE The physics engine we have built has four distinct parts: The force generators (and torque generators) examine the current stat 阅读全文

摘要：We I have a set of contact data from the collision detector, and have the rigid-body equations of motion, including torques and forces. We are now rea 阅读全文

摘要：Many collision detection systems perform this check for each pair and return a single point of maximum interpenetration if the objects are in contact. 阅读全文

摘要：COLLISION DETECTION PIPELINE Collision detection can be a very time-consuming process. Fortunately there is plenty of room for improvement. The two ke 阅读全文

摘要：our physics engine is now capable of simulating full rigid bodies in full 3D.The spring forces and other force generators will work with this approach 阅读全文

摘要：In Newton’s second law of motion, we saw that the change in velocity depends on a force acting on the object and the object’s mass: \[\ddot{p} = \frac 阅读全文

摘要：To now,the engine still has limits: It can't describe the way objects rotate. Robust general-purpose collision detection system Center of Mass \[p_{co 阅读全文

摘要：Initially we’ll look at the most common hard constraint—collisions and contact between objects.All the engines we’re building in this book treat hard 阅读全文

摘要：One of the most useful forces we can create for our engine is a spring force. Although springs have an obvious use in driving games (for simulating th 阅读全文

摘要：D’ALEMBERT’S PRINCIPLE For particles D’Alembert’s principle implies that, if we have a set of forces acting on an object, we can replace all those for 阅读全文

摘要：Ballistics One of the most common applications of physics simulation in games is to model ballistics. This has been the case for two decades, predatin 阅读全文

摘要：A PARTICLE The first law The problem arises because the processor that performs the physics calculations isn’t completely accurate. This inaccuracy ca 阅读全文

摘要：Introduction This book is split into the following six parts. Particle Physics looks at building our initial physics engine, including the vector math 阅读全文

摘要：The velocity of a point The velocity of a point on an object depends on both its linear and angular velocity: \[\dot{q} = \dot{\theta} \times (q - p) 阅读全文

摘要：This angular velocity calculator uses two different angular velocity formulas depending on your input parameters. The first angular velocity equation 阅读全文