Falling2d

Warning: this project is discontinued to be rewritten in Haskell. See https://github.com/sebcrozet/falling2d.

Falling2d is a basic 2D physics engine aimed to be used in game. Since it is still under development, it should not be used by anyone for now. If you are hopelessly searching for a new physics engine to try out, follow the following Compilation guidelines.

#Compilation The code should be portable but has been tested under ArchLinux only for now.

Dependencies

The demo application requires:

• sfml2.0 RC - http://www.sfml-dev.org/download.php
• cmake

Compilation steps

$ git clone git://github.com/sebcrozet/falling2d.git
$ cd falling2d
$ sh cmake_release.sh
$ ./bin/Release/falling_demo

#Algorithms involved

Broad phase

• Sweep & Prune detector (and thus, AABBs) using space/time coherency
• OBB tree on non-convex polygon (one OBB by polygon on its convex decomposition)

Narrow phase

• GJK-hybrid for collision detection & light penetrations
• EPA for bigger penetrations

Contacts resolution##

• Impulse based
• Projected Gauss-Seidel LCP solver

Misc

• Islands
• Object/Island sleeping
• Handles any polygons (convex, concave, crossed)