Features
Advanced rigid body simulation
| Primitive shapes | Translation | Rotation | Us | NUs | |
|---|---|---|---|---|---|
| Sphere | |||||
| Hemisphere | |||||
| Cube | |||||
| Cuboid | |||||
| Cylinder | |||||
| Two radius cylinder (truncated cone) | |||||
| Cone | |||||
| Pyramid | |||||
| Capsule | |||||
| Two radius capsule | |||||
| Tetrahedron | |||||
| Convex hull | |||||
| Convex triangle mesh | |||||
| Non-convex triangle mesh | |||||
| Heightmap | |||||
| Fluid | |||||
| Triangle | |||||
| Point | |||||
| Segment | |||||
| Plain | |||||
NUs - Non-uniform scaling
- Rigid body dynamics with effective automatic activity management, control for linear and angular velocity, linear and angular damping, and other parameters
- Fully multithreaded simulation, stable and robust, highly optimized solver
- Extensive mass properties, local and global gravity, forces
- Force fields with ranges defined by any primitive shapes
- A rich set of primitive shapes on which operations of Minkowski sum and construction of convex hull are available, creating further unique shapes
- Operations on arbitrary sets of triangles through the triangle mesh controllers
- Real-time deformable triangle meshes
- Real-time deformable large-scale heightmaps
- Animated large-scale fluid surfaces
- Heightmaps with holes and with non-rectangular shaped terrain
- Multiple heightmaps and fluid surfaces on a single physics scene
- Built-in functions to transform non-convex triangle meshes into a set of convex objects (physics objects and/or shapes and/or primitive shapes)
- Materials defining values of static and dynamic friction, restitution, determining appearance and destruction of physics objects
- Real-time changeable value of friction and restitution for every heightmap point
- Fully interpolated values of height, friction and restitution for heightmap
- Groups of physics objects with advanced modeling of destruction process. Each rigid body group can be breakable and the group destruction process is fully modeled by physics scene developers
- Kinematic objects controlled by animation system
- Scalable buoyancy of physics objects
Advanced collision detection and collision filtering
- Continuous collision detection (CCD) between all primitive shapes and shapes derived therefrom
- Contact reporting
- Rigid body collisions allocation on different collision groups (maximum 64)
- Trigger shapes
Unified constraints
- One natural constraint
- Distance limits for X, Y and Z axes
- Angle limits for X, Y and Z axes (defined as Euler angles or quaternions)
- Advanced control for distance and angle limits
- Working in normal, spring or deformation mode
- Parameters determining indestructibility of constraint
Built-in APIs: ray casting, volume query
- Ray-surface intersection tests for all primitive shapes
- Volume queries specified as a transformed "fat" segment
- Volume queries specified as a transformed box
- Volume queries specified as a transformed sphere
Advanced triangle meshes creation functionalities
- Triangle meshes for predefined shapes (sphere, hemisphere, cube, cuboid, cylinder, two radius cylinder (truncated cone), cone, pyramid, capsule, two radius capsule, torus, tube, triangle, plain)
- Triangle meshes for user shapes
- Triangle meshes for procedural surfaces: Bezier and NURBS
- Managers: regions, vertices and triangles
- Adjustable numbers of stacks and slices
- Meshes returned as arrays of indexed or non-indexed triangles
Advanced management of multiple physics scenes and physics objects
- Fully dynamic physics scenes constructed as sets of physics objects and groups of physics objects
- Managers: physics objects and physics scenes
- Physics objects with constraints and groups of physics objects with constraints can be during initialization rotated, moved and scaled
- Concurrent sequential processing of multiple physics scenes
- Physics objects lifetime maintenance through the counters of frames
- Full support for cameras (frustum, view matrix, projection matrix)
- Support for instancing
- Handling of transparent objects (including objects with variable transparency)
- Determining when and how objects are drawn
Physics-based animations and physical AI
- Total control of constraints (distances and angles)
- Keyframes modeling based on constraints control
- Support for force-feedback
- All examples of physics-based animations provided with C++ source code
- All examples of physical AI provided with C++ source code
Rigid particles simulation
- Generic particle system
- Particle dynamics
- Advanced particles management
- Collision handling and filtering
- Inter-particle interactions
- Lifetime and other parameters maintenance
Vehicles simulation
- Simulation of real and imagined vehicles
- Steering through the controllers and/or switches
- Vehicles created as groups of physics objects connected constraints
- All examples of vehicles provided with C++ source code
Physics-driven sound
- Full support for selected motion characteristics of object
- Sounds ranges defined by any primitive shapes
Advanced controllers
| Internal controllers | Description | |
|---|---|---|
| Cursor controller | Provides functions to handle cursor | |
| Screen to ray controller | Provides functions to throw the ray in 3D space for given screen coordinates | |
| Fluid surface controller | Provides functions to create sinusoidal or cosinusoidal fluid surface perturbation in real-time | |
| Heightmap controller | Provides functions to deform heightmap in real-time | |
| Triangle mesh controller | Provides functions to add triangles to arbitrary set of triangles | |
| Destruction controller | Provides functions to destroy groups of objects unconnected constraints | |
- A rich set of internal controllers
- User-defined controllers
- Scalable to your needs, full-featured character controllers
- Priorities determining the order of user-defined controllers execution
- All examples of user-defined controllers provided with C++ source code
- All examples of character controllers provided with C++ source code
Serialization and deserialization
| Serialized physics scene elements | |
|---|---|
| Simulation parameters | |
| Physics objects (with materials, cameras, controllers, fog, light and sound sources, contact points, etc) | |
| Shapes | |
| Primitive shapes | |
| Constraints | |
| Meshes | |
- Serialization of entire physics scenes to easily parsable XML data
- Deserialization of entire physics scenes from easily parsable XML data
- Serialization of entire physics scenes to a file, memory or stream
- Deserialization of entire physics scenes from a file, memory or stream
- Real-time snapshot creation. Such snapshots can be loaded and further processed from the point at which were taken
- Serialization in two modes: optimized or complete
- Serialization of user-defined controllers through the programmable Archive class
Debug visualization
- Full support for user-defined debbugers
- Built-in mechanisms required for custom debugging