ReactPhysics3D

C++ physics engine library for 3D simulations and games

ReactPhysics3D is a C++ physics engine library that can be used in 3D simulations and games. The library is developed by Daniel Chappuis and is released under the open-source ZLib license.

ReactPhysics3D has the following features:

  • Rigid body dynamics
  • Discrete collision detection
  • Collision shapes (Sphere, Box, Capsule, Convex Mesh, Static Concave Mesh, Height Field)
  • 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
  • Logs
  • Unit tests