ReactPhysics3D is a C++ physics engine library that can be used in 3D simulations and games. I am currently working on this library that 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
Website: https://www.reactphysics3d.com
Github: https://github.com/DanielChappuis/reactphysics3d