Mini3DPhysics

Tiny 3D physics engine inspired by the book "Game Physics Cookbook" by Gabor Szauer, and focused on boxes and spheres interactions.

The relevant chapters of the book are summarized in the pages below

The source code is available in the lib folder

An optional micro WebGL renderer is included in the lib folder, based on W.js

Physics engine API

• physicsSystem.addRigidBody(body);
• physicsSystem.addConstraint(constraint);
• physicsSystem.update();
• physicsSystem.render();
• physicsSystem.clear();

Renderer API (todo)

Scene:

• W.reset(webglContext)
• W.light({x, y, z})
• W.camera({x, y, z, rx, ry, rz, fov})
• W.wclearColor("#rgb");

Shapes:

• W.sphere(options)
• W.box(options)
• W.add(model_name, {vertices, uv, indices}) // register new model, then it can be rendered using W.model_name(options)

Transformations:

• W.move(options)
• W.delete(id)

options:

• id (string)
• p: position (DOMPoint)
• r: rotation (DOMPoint)
• size: half-width/height/depth for boxes ([w, h d]), radius for spheres (r)
• c: color (string, optional)
• t: texture (image, optional)
• M: transformation matrix (DOMMatrix)
• s: smoothing (0/1)

(contrary to W.js, this renderer does not include groups, delays, animations, planes, billboards and pyramids)

Chapters summarized

• 1. Vectors
• 2. Matrices + 3. Matrix Transformations
• (skipped) 4. 2D Primitive Shapes
• (skipped) 5. 2D Collisions
• (skipped) 6. 2D Optimizations
• 7. 3D Primitive Shapes
• 8. 3D Point Tests
• 9. 3D Shape Intersections
• (skipped) 10. 3D Line Intersections
• (skipped) 11. Triangles and Meshes
• (skipped) 12. Models and Scenes
• (skipped) 13. Camera and Frustum
• 14. Constraint Solving
• 15. Manifolds and Impulses
• 16. Springs and Joints
• Appendix: advanced topics