This is a quick overview for the "custom physics" module, which facilitates implementing custom physics functionality. The module is simply an adapted version of the "Bullet" module that ships with Godot. This module was created in a software project internship at RWTH Aachen.
Make sure that you are able to compile Godot 3.1. from sources.
Create a customphysics folder in the modules folder of Godots 3.1 source distribution.
(Re)compile Godot and run the binary, in the settings a new option at Physics > 3d > Physics Engine should appear called "CustomPhysics".
This module only focuses on Rigid body dynamics:
- unconstrained motion
- constrained motion
- collision/friction
- pin joints
- hinge joints