A header only Constraint Based Rigid Body Physics Engine developed during the Physically Based Simulation lecture at ETH 2016 by Thomas Wolf, Thomas Etterlin and Stephan Zehnder.
- Hinge, distance, spring, balljoint constraints
- Inactivity Detector
- Lightweight: Only GLM and Eigen3 needed for the physics part
- Android (OpenGL ES) and Desktop (OpenGL) demos provided
git submodule init
git submodule update
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8
./main
- A / S / D / W for navigating
- 1 / 2 / ... to change scene
- b / n / m to change render modes
- space / q / e to shoot objects
- o to toggle debug mode
- p to pause & resume simulation
- esc to quit