2D Rigid Body Physics Engine

2D Rigid body physics engine written in TypeScript.

Live demo: https://sopiro.github.io/Physics/
Video: https://youtu.be/ROAqjE40pxU

Examples

Features

• Real-time interactive simulation
• Rigid body
  • Shapes: Convex polygons and circles
  • Density-based body definition
• Collision detection
  • Broad phase, narrow phase collision detection
  • Dynamic AABB volume tree for spatial partitioning
  • Computing minimum distance between two convex shapes (GJK)
  • Contact manifold generation (EPA)
• Collision resolution
  • Impulse-based collision response
  • Friction and restitution
  • Iterative solver (Sequential impulses)
  • Collision callback
• Constraint-basd simulation
  • Contact constraint
  • Joints: Revolute, Prismatic, Distance, Max distance, Weld, Motor, Line, Angle, Grab
  • Soft constraints
  • Block solver
• Optimization
  • Constraint islanding
  • Island(Rigid body) sleeping

References

• https://box2d.org/publications/
• https://allenchou.net/game-physics-series/
• https://www.toptal.com/game/video-game-physics-part-iii-constrained-rigid-body-simulation
• https://dyn4j.org/blog/