ReactPhysics3D

ReactPhysics3D is an open-source, C++ physics engine library that can be used in 3D simulations and games.

FEATURES:

• Rigid body dynamics
• Discrete collision detection
• Collision shapes (Sphere, Box, Capsule, Convex Mesh, Static Concave Mesh, Height Field)
• Multiple collision shapes per body
• Broadphase collision detection (Dynamic AABB tree)
• Narrowphase collision detection (SAT/GJK)
• Collision response and friction (Sequential Impulses Solver)
• Joints (Ball and Socket, Hinge, Slider, Fixed)
• Collision filtering with categories
• Ray casting
• Sleeping technique for inactive bodies
• Multi-platform (Windows, Linux, Mac OS X)
• No external libraries (do not use STL containers)
• Documentation (user manual and Doxygen API)
• Testbed application with demos
• Integrated Profiler
• Logs
• Unit tests