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## ephysics

ephysics is an open source C++ physics engine library that can be used in 3D simulations and games.

Website: [http://www.ephysics.com](http://www.ephysics.com)

Author: Daniel CHAPPUIS (original project ReactPhysics3D)
Author: Edouard DUPIN (forker)

<img src="https://raw.githubusercontent.com/DanielChappuis/ephysics/master/documentation/UserManual/images/testbed.png" alt="Drawing" height="400" />

## Features

ephysics has the following features:

- Rigid body dynamics
- Discrete collision detection
- Collision shapes (Sphere, Box, Cone, Cylinder, Capsule, Convex Mesh, static Concave Mesh, Height Field)
- Multiple collision shapes per body
- Broadphase collision detection (Dynamic AABB tree)
- Narrowphase collision detection (GJK/EPA)
- Collision response and friction (Sequential Impulses Solver)
- Joints (Ball and Socket, Hinge, Slider, Fixed)
- Collision filtering with categories
- Ray casting
- Sleeping technique for inactive bodies
- Integrated Profiler
- Multi-platform (Windows, Linux, Mac OS X)
- No dependencies (only OpenGL for the testbed application)
- Documentation (User manual and Doxygen API)
- Testbed application with demo scenes
- Unit tests

## License

The ephysics library is released under the MPL-2 license.