Rigidbody Constraint-based Physics Simulation
This was my personal project that I implemented from scratch for CS550(Physics Simulation) class at DigiPen.
Accomplishments:
- GJK for convex collision checking
- EPA for collision record generation
- GJK Simplex visualization
- EPA Polytope visualization
- Constraints-based using Sequential Impulse solver, developed by Erin Catto
- Contact caching
- Warm starting
- Baumgarte stabilization
- Friction and restitution