ephysics

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

Website: http://www.ephysics.com

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

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.