ABSTRACT

Simulating physics helps cutting-edge games distinguish themselves by making virtual objects behave as we expect them to in the real world. Physics engines are the software programs that run these simulations. Building an engine is difficult, however. There are a large number of new developers (and hobbyists) coming into this market who need help t

chapter 1|12 pages

INTRODUCTION

part |2 pages

PART I PARTICLE PHYSICS

chapter 2|28 pages

THE MATHEMATICS OF PARTICLES

chapter 3|12 pages

THE LAWS OF MOTION

chapter 4|12 pages

THE PARTICLE PHYSICS ENGINE

part |2 pages

PART II: MASS-AGGREGATE PHYSICS

chapter 5|12 pages

ADDING GENERAL FORCES

chapter 6|22 pages

SPRINGS AND SPRINGLIKE THINGS

chapter 7|30 pages

HARD CONSTRAINTS

chapter 8|10 pages

THE MASS-AGGREGATE PHYSICS ENGINE

part |2 pages

PART III RIGID-BODY PHYSICS

chapter 9|48 pages

THE MATHEMATICS OF ROTATIONS

chapter 10|20 pages

LAWS OF MOTION FOR RIGID BODIES

chapter 11|16 pages

THE RIGID-BODY PHYSICS ENGINE

part |2 pages

PART IV: COLLISION DETECTION

chapter 12|32 pages

COLLISION DETECTION

chapter 13|36 pages

GENERATING CONTACTS

part |2 pages

PART V: CONTACT PHYSICS

chapter 14|50 pages

COLLISION RESOLUTION

chapter 15|24 pages

RESTING CONTACTS AND FRICTION

chapter 16|24 pages

STABILITY AND OPTIMIZATION

chapter 17|22 pages

PUTTING IT ALL TOGETHER

part |2 pages

PART VI WHAT COMES NEXT?

chapter 18|8 pages

OTHER TYPES OF PHYSICS