Features

Advanced rigid body simulation

Primitive shapes		Translation	Rotation	Uniform scaling	Non-uniform scaling
	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

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
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

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

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

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)
Handling of transparent objects (including objects with variable transparency)
Determining when and how objects are drawn

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

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