reactphysics3d

C++ physics engine library in 3D

ReactPhysics3D is a C++ physics engine library that can be used in 3D simulations and games. ReactPhysics3D has the following features: * Rigid body dynamics * Discrete collision detection * Collision shapes (Sphere, Box, Capsule, Convex Mesh, Static Concave Mesh) * Multiple collision shapes per body * Broadphase collision detection (Dynamic AABB tree) * Narrowphase collision detection (SAT/GJK) * 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 * Multi-platform (Windows, Linux, Mac OS X) * No external libraries (do not use STL containers) * Documentation (user manual and Doxygen API) * Testbed application with demos * Integrated Profiler