Rigidbody Constraint-based Physics Simulation

This was my personal project that I implemented from scratch for CS550(Physics Simulation) class at DigiPen.


  • 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
Jingyu Lee
Jingyu Lee
PhD Student

PhD Student at Human-Centered Computer Systems Lab, Seoul National University. Enthusiastic learner & programmer with game development background.