Rigid Body Dynamics - Revision history

Checker at 08:43, 14 May 2007

2007-05-14T08:43:58Z

← Older revision		Revision as of 08:43, 14 May 2007
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			'''''Note: the text of this page is from my original website, and I haven't updated it in a while. Make sure you look at the [[:Category:Physics\|physics category]] for all of the articles related to rigid body dynamics.'''''

	{\|align=right		{\|align=right
	\|__TOC__		\|__TOC__
	\|}		\|}

	'''''Note: the text of this page is from my original website, and I haven't updated it in a while. Make sure you look at the [[:Category:Physics\|physics category]] for all of the articles related to rigid body dynamics.'''''

	I started getting interested in high end physical simulation for games		I started getting interested in high end physical simulation for games
	sometime in 1995. Since I didn't know anything about physics or know		sometime in 1995. Since I didn't know anything about physics or know

Checker at 08:42, 14 May 2007

2007-05-14T08:42:08Z

← Older revision		Revision as of 08:42, 14 May 2007
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	\|__TOC__		\|__TOC__
	\|}		\|}

			'''''Note: the text of this page is from my original website, and I haven't updated it in a while. Make sure you look at the [[:Category:Physics\|physics category]] for all of the articles related to rigid body dynamics.'''''

	I started getting interested in high end physical simulation for games		I started getting interested in high end physical simulation for games
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	[[Category:Physics]]		[[Category:Physics]]
	[[Category:Articles]]		[[Category:Articles]]
			[[Category:Sample Code]]

Checker at 08:31, 22 February 2007

2007-02-22T08:31:08Z

← Older revision		Revision as of 08:31, 22 February 2007
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	* [[Media:gdphys2d.zip \| The 2D Physics Sample]], a 34kb PK-zipped file. Includes Win32 executable.<br>I never quite got finished porting this app to the mac, but the code is quite portable (the simulator talks to the OS code through a few functions in iface.h). A couple people have hacked up mac ports, but I haven't had time to integrate them with the code and update the zip. Some other people have ported it to Java, so I might just include that here for kicks.		* [[Media:gdphys2d.zip \| The 2D Physics Sample]], a 34kb PK-zipped file. Includes Win32 executable.<br>I never quite got finished porting this app to the mac, but the code is quite portable (the simulator talks to the OS code through a few functions in iface.h). A couple people have hacked up mac ports, but I haven't had time to integrate them with the code and update the zip. Some other people have ported it to Java, so I might just include that here for kicks.
	* [[Media:gdphys3d.zip \| The 3D Physics Sample]], a 47kb PK-zipped file. Includes Win32 executable.<br>I used [[OpenGL]] for the 3D rendering in this sample, so it's nice and clean and portable. In addition to the stock Win32 wrapper I always use (abuse?) for my test apps, I also hacked up a [http://reality.sgi.com/employees/mjk_asd/glut3/glut3.html GLUT] wrapper and included it in the zip, so any platform that supports OpenGL and has a GLUT port should run the app (make sure you fix the GetTime function in glut.cpp as the assert will tell you). I've tested it on Win95 with a bunch of drivers. I've also tested it on the MacOS using GLUT with Mac Mesa and with Conix's OpenGL. The performance is totally acceptable for the software renderers on a low-end (100Mhz) Pentium or PowerPC.		* [[Media:gdphys3d.zip \| The 3D Physics Sample]], a 47kb PK-zipped file. Includes Win32 executable.<br>I used [[OpenGL]] for the 3D rendering in this sample, so it's nice and clean and portable. In addition to the stock Win32 wrapper I always use (abuse?) for my test apps, I also hacked up a [http://reality.sgi.com/employees/mjk_asd/glut3/glut3.html GLUT] wrapper and included it in the zip, so any platform that supports OpenGL and has a GLUT port should run the app (make sure you fix the GetTime function in glut.cpp as the assert will tell you). I've tested it on Win95 with a bunch of drivers. I've also tested it on the MacOS using GLUT with Mac Mesa and with Conix's OpenGL. The performance is totally acceptable for the software renderers on a low-end (100Mhz) Pentium or PowerPC.

			===Physics References===

			I've moved the annotated physics references [[Physics References\|here]].

	{{todo}}		{{todo}}

Checker at 10:47, 21 February 2007

2007-02-21T10:47:59Z

← Older revision		Revision as of 10:47, 21 February 2007
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	* [[Media:gdphys2d.zip \| The 2D Physics Sample]], a 34kb PK-zipped file. Includes Win32 executable.<br>I never quite got finished porting this app to the mac, but the code is quite portable (the simulator talks to the OS code through a few functions in iface.h). A couple people have hacked up mac ports, but I haven't had time to integrate them with the code and update the zip. Some other people have ported it to Java, so I might just include that here for kicks.		* [[Media:gdphys2d.zip \| The 2D Physics Sample]], a 34kb PK-zipped file. Includes Win32 executable.<br>I never quite got finished porting this app to the mac, but the code is quite portable (the simulator talks to the OS code through a few functions in iface.h). A couple people have hacked up mac ports, but I haven't had time to integrate them with the code and update the zip. Some other people have ported it to Java, so I might just include that here for kicks.
	* [[Media:gdphys3d.zip \| The 3D Physics Sample]], a 47kb PK-zipped file. Includes Win32 executable.<br>I used [[OpenGL]] for the 3D rendering in this sample, so it's nice and clean and portable. In addition to the stock Win32 wrapper I always use (abuse?) for my test apps, I also hacked up a [http://reality.sgi.com/employees/mjk_asd/glut3/glut3.html GLUT] wrapper and included it in the zip, so any platform that supports OpenGL and has a GLUT port should run the app (make sure you fix the GetTime function in glut.cpp as the assert will tell you). I've tested it on Win95 with a bunch of drivers. I've also tested it on the MacOS using GLUT with Mac Mesa and with Conix's OpenGL. The performance is totally acceptable for the software renderers on a low-end (100Mhz) Pentium or PowerPC.		* [[Media:gdphys3d.zip \| The 3D Physics Sample]], a 47kb PK-zipped file. Includes Win32 executable.<br>I used [[OpenGL]] for the 3D rendering in this sample, so it's nice and clean and portable. In addition to the stock Win32 wrapper I always use (abuse?) for my test apps, I also hacked up a [http://reality.sgi.com/employees/mjk_asd/glut3/glut3.html GLUT] wrapper and included it in the zip, so any platform that supports OpenGL and has a GLUT port should run the app (make sure you fix the GetTime function in glut.cpp as the assert will tell you). I've tested it on Win95 with a bunch of drivers. I've also tested it on the MacOS using GLUT with Mac Mesa and with Conix's OpenGL. The performance is totally acceptable for the software renderers on a low-end (100Mhz) Pentium or PowerPC.

			{{todo}}

	[[Category:Physics]]		[[Category:Physics]]
	[[Category:Articles]]		[[Category:Articles]]

Checker at 10:45, 21 February 2007

2007-02-21T10:45:26Z

← Older revision		Revision as of 10:45, 21 February 2007
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	* [[Media:gdmphys1.pdf \| Physics, Part 1: The Next Frontier]] - Oct/Nov 96<br>This is the introduction to the physics series. It covers the linear parts of 2D rigid body mechanics, and a little bit of numerical integration.		* [[Media:gdmphys1.pdf \| Physics, Part 1: The Next Frontier]] - Oct/Nov 96<br>This is the introduction to the physics series. It covers the linear parts of 2D rigid body mechanics, and a little bit of numerical integration.
	* [[Media:gdmphys2.pdf \| Physics, Part 2: Angular Effects]] - Dec/Jan 96<br>This article covers 2D angular rigid body mechanics and the overall 2D dynamics algorithm.		* [[Media:gdmphys2.pdf \| Physics, Part 2: Angular Effects]] - Dec/Jan 96<br>This article covers 2D angular rigid body mechanics and the overall 2D dynamics algorithm.
	* [[Media:gdmphys3.pdf \| Physics, Part 3: Collision Response]] - Feb/Mar 97<br>We finish off 2D physics with collision response, including the angular effects induced by a collision. The 2D physics sample, ~~<ahref="~~#~~samples">~~discussed below~~</a>~~, demonstrates all the concepts learned so far.		* [[Media:gdmphys3.pdf \| Physics, Part 3: Collision Response]] - Feb/Mar 97<br>We finish off 2D physics with collision response, including the angular effects induced by a collision. The 2D physics sample, [[#Physics Samples\|discussed below]], demonstrates all the concepts learned so far.
	* [[Media:gdmphys4.pdf \| Physics, Part 4: The Third Dimension]] - June 97<br>The final article in the series. To pack in all the 3D equivalents of the first three articles, I created this monster of an article. It comes in at twice the length of the others, with 6000 words and 20 equations.		* [[Media:gdmphys4.pdf \| Physics, Part 4: The Third Dimension]] - June 97<br>The final article in the series. To pack in all the 3D equivalents of the first three articles, I created this monster of an article. It comes in at twice the length of the others, with 6000 words and 20 equations.

Checker at 10:37, 21 February 2007

2007-02-21T10:37:50Z

← Older revision		Revision as of 10:37, 21 February 2007
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	~~==Introduction==~~

	{\|align=right		{\|align=right
	\|__TOC__		\|__TOC__
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	everyone else get past those difficult first steps.		everyone else get past those difficult first steps.

			===Physics Articles===

	~~Here is a high level directory to this rather lengthy page.~~		I wrote a total of four articles about rigid body dynamics for [[Game Developer Magazine]]. I've posted them as [http://www.adobe.com/acrobat PDF] files, so they



	~~==Physics Articles==~~

	I wrote a total of four articles about rigid body dynamics for <a
	~~href="http://www.gdmag.com">~~Game Developer Magazine~~</a>~~. I've posted
	them as ~~<a href="~~http://www.adobe.com/acrobat">PDF~~</a>~~ files, so they
	look just like they do in the magazine. There are downsides to PDF,		look just like they do in the magazine. There are downsides to PDF,
	however, including the general way in which Acrobat sucks at letting		however, including the general way in which Acrobat sucks at letting
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	* [[Media:gdmphys4.pdf \| Physics, Part 4: The Third Dimension]] - June 97<br>The final article in the series. To pack in all the 3D equivalents of the first three articles, I created this monster of an article. It comes in at twice the length of the others, with 6000 words and 20 equations.		* [[Media:gdmphys4.pdf \| Physics, Part 4: The Third Dimension]] - June 97<br>The final article in the series. To pack in all the 3D equivalents of the first three articles, I created this monster of an article. It comes in at twice the length of the others, with 6000 words and 20 equations.

	~~=== more headings ===~~
	Four articles, no matter how long, are just not enough to do justice		Four articles, no matter how long, are just not enough to do justice
	to rigid body dynamics. If you plan on using real dynamics in your		to rigid body dynamics. If you plan on using real dynamics in your
	game, you simply have to read my ~~<a href="#references">references</a>~~. The		game, you simply have to read my [[Physics References]]. The
	~~<a href="#samples">~~3D sample application~~</a>~~ shows the beginnings of		3D sample application below shows the beginnings of
	some really cool technology, but you'll have to take the initiative to		some really cool technology, but you'll have to take the initiative to
	teach yourself more math and physics to turn it into a production quality		teach yourself more math and physics to turn it into a production quality
	simulator.		simulator.

	=~~==another===~~		===Physics Samples===

	==Physics Samples==

	I created two sample applications to accompany my physics articles.		I created two sample applications to accompany my physics articles.
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	Euler integrator. If you play with the spring and damping		Euler integrator. If you play with the spring and damping
	coefficients you'll quickly see how tweaky they are with relation to		coefficients you'll quickly see how tweaky they are with relation to
	the timestep with this cheesy integrator. There are <a		the timestep with this cheesy integrator. There are [[Physics References\|tons of books]] on numerical integration to help
	~~href="#references">~~tons of books~~</a>~~ on numerical integration to help
	you fix this problem.		you fix this problem.

	* [[Media:gdphys2d.zip \| The 2D Physics Sample]], a 34kb PK-zipped file. Includes Win32 executable.<br>I never quite got finished porting this app to the mac, but the code is quite portable (the simulator talks to the OS code through a few functions in iface.h). A couple people have hacked up mac ports, but I haven't had time to integrate them with the code and update the zip. Some other people have ported it to Java, so I might just include that here for kicks.		* [[Media:gdphys2d.zip \| The 2D Physics Sample]], a 34kb PK-zipped file. Includes Win32 executable.<br>I never quite got finished porting this app to the mac, but the code is quite portable (the simulator talks to the OS code through a few functions in iface.h). A couple people have hacked up mac ports, but I haven't had time to integrate them with the code and update the zip. Some other people have ported it to Java, so I might just include that here for kicks.
			* [[Media:gdphys3d.zip \| The 3D Physics Sample]], a 47kb PK-zipped file. Includes Win32 executable.<br>I used [[OpenGL]] for the 3D rendering in this sample, so it's nice and clean and portable. In addition to the stock Win32 wrapper I always use (abuse?) for my test apps, I also hacked up a [http://reality.sgi.com/employees/mjk_asd/glut3/glut3.html GLUT] wrapper and included it in the zip, so any platform that supports OpenGL and has a GLUT port should run the app (make sure you fix the GetTime function in glut.cpp as the assert will tell you). I've tested it on Win95 with a bunch of drivers. I've also tested it on the MacOS using GLUT with Mac Mesa and with Conix's OpenGL. The performance is totally acceptable for the software renderers on a low-end (100Mhz) Pentium or PowerPC.
	* [[Media:gdphys3d.zip \| The 3D Physics Sample]], a 47kb PK-zipped file. Includes Win32 executable.<br>I used ~~<a href="index.htm#opengl">~~OpenGL~~</a>~~ for the 3D rendering in this sample, so it's nice and clean and portable. In addition to the stock Win32 wrapper I always use (abuse?) for my test apps, I also hacked up a ~~<a href="~~http://reality.sgi.com/employees/mjk_asd/glut3/glut3.html">GLUT~~</a>~~ wrapper and included it in the zip, so any platform that supports OpenGL and has a GLUT port should run the app (make sure you fix the GetTime function in glut.cpp as the assert will tell you). I've tested it on Win95 with a bunch of drivers. I've also tested it on the MacOS using GLUT with Mac Mesa and with Conix's OpenGL. ~~See my <a href="index.htm#opengl">OpenGL section</a> for links to where you can get the necessary system files to run the sample on your platform.~~ The performance is totally acceptable for the software renderers on a low-end (100Mhz) Pentium or PowerPC.

	~~===yet more===~~

	~~[[User:Checker\|checker]] 04:07, 18 January 2007 (CST)~~

	[[Category:Physics]]		[[Category:Physics]]
			[[Category:Articles]]

Checker at 11:10, 20 February 2007

2007-02-20T11:10:25Z

← Older revision		Revision as of 11:10, 20 February 2007
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	[[User:Checker\|checker]] 04:07, 18 January 2007 (CST)		[[User:Checker\|checker]] 04:07, 18 January 2007 (CST)

			[[Category:Physics]]

Checker at 10:07, 18 January 2007

2007-01-18T10:07:05Z

← Older revision		Revision as of 10:07, 18 January 2007
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	===yet more===		===yet more===

			[[User:Checker\|checker]] 04:07, 18 January 2007 (CST)

Checker at 10:03, 18 January 2007

2007-01-18T10:03:16Z

← Older revision		Revision as of 10:03, 18 January 2007
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	==Introduction==		==Introduction==

			{\|align=right
			\|__TOC__
			\|}

	I started getting interested in high end physical simulation for games		I started getting interested in high end physical simulation for games
Line 20:		Line 24:
	Here is a high level directory to this rather lengthy page.		Here is a high level directory to this rather lengthy page.

	~~__TOC__~~

	==Physics Articles==		==Physics Articles==

Checker at 10:00, 18 January 2007

2007-01-18T10:00:31Z

← Older revision		Revision as of 10:00, 18 January 2007
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	* [[Media:gdmphys4.pdf \| Physics, Part 4: The Third Dimension]] - June 97<br>The final article in the series. To pack in all the 3D equivalents of the first three articles, I created this monster of an article. It comes in at twice the length of the others, with 6000 words and 20 equations.		* [[Media:gdmphys4.pdf \| Physics, Part 4: The Third Dimension]] - June 97<br>The final article in the series. To pack in all the 3D equivalents of the first three articles, I created this monster of an article. It comes in at twice the length of the others, with 6000 words and 20 equations.

			=== more headings ===
	Four articles, no matter how long, are just not enough to do justice		Four articles, no matter how long, are just not enough to do justice
	to rigid body dynamics. If you plan on using real dynamics in your		to rigid body dynamics. If you plan on using real dynamics in your
Line 48:		Line 49:
	teach yourself more math and physics to turn it into a production quality		teach yourself more math and physics to turn it into a production quality
	simulator.		simulator.

			===another===

	==Physics Samples==		==Physics Samples==
Line 76:		Line 79:

	* [[Media:gdphys3d.zip \| The 3D Physics Sample]], a 47kb PK-zipped file. Includes Win32 executable.<br>I used <a href="index.htm#opengl">OpenGL</a> for the 3D rendering in this sample, so it's nice and clean and portable. In addition to the stock Win32 wrapper I always use (abuse?) for my test apps, I also hacked up a <a href="http://reality.sgi.com/employees/mjk_asd/glut3/glut3.html">GLUT</a> wrapper and included it in the zip, so any platform that supports OpenGL and has a GLUT port should run the app (make sure you fix the GetTime function in glut.cpp as the assert will tell you). I've tested it on Win95 with a bunch of drivers. I've also tested it on the MacOS using GLUT with Mac Mesa and with Conix's OpenGL. See my <a href="index.htm#opengl">OpenGL section</a> for links to where you can get the necessary system files to run the sample on your platform. The performance is totally acceptable for the software renderers on a low-end (100Mhz) Pentium or PowerPC.		* [[Media:gdphys3d.zip \| The 3D Physics Sample]], a 47kb PK-zipped file. Includes Win32 executable.<br>I used <a href="index.htm#opengl">OpenGL</a> for the 3D rendering in this sample, so it's nice and clean and portable. In addition to the stock Win32 wrapper I always use (abuse?) for my test apps, I also hacked up a <a href="http://reality.sgi.com/employees/mjk_asd/glut3/glut3.html">GLUT</a> wrapper and included it in the zip, so any platform that supports OpenGL and has a GLUT port should run the app (make sure you fix the GetTime function in glut.cpp as the assert will tell you). I've tested it on Win95 with a bunch of drivers. I've also tested it on the MacOS using GLUT with Mac Mesa and with Conix's OpenGL. See my <a href="index.htm#opengl">OpenGL section</a> for links to where you can get the necessary system files to run the sample on your platform. The performance is totally acceptable for the software renderers on a low-end (100Mhz) Pentium or PowerPC.

			===yet more===

← Older revision		Revision as of 10:45, 21 February 2007
Line 33:		Line 33:
	* [[Media:gdmphys1.pdf \| Physics, Part 1: The Next Frontier]] - Oct/Nov 96<br>This is the introduction to the physics series. It covers the linear parts of 2D rigid body mechanics, and a little bit of numerical integration.		* [[Media:gdmphys1.pdf \| Physics, Part 1: The Next Frontier]] - Oct/Nov 96<br>This is the introduction to the physics series. It covers the linear parts of 2D rigid body mechanics, and a little bit of numerical integration.
	* [[Media:gdmphys2.pdf \| Physics, Part 2: Angular Effects]] - Dec/Jan 96<br>This article covers 2D angular rigid body mechanics and the overall 2D dynamics algorithm.		* [[Media:gdmphys2.pdf \| Physics, Part 2: Angular Effects]] - Dec/Jan 96<br>This article covers 2D angular rigid body mechanics and the overall 2D dynamics algorithm.
	* [[Media:gdmphys3.pdf \| Physics, Part 3: Collision Response]] - Feb/Mar 97<br>We finish off 2D physics with collision response, including the angular effects induced by a collision. The 2D physics sample, ~~<ahref="~~#~~samples">~~discussed below~~</a>~~, demonstrates all the concepts learned so far.		* [[Media:gdmphys3.pdf \| Physics, Part 3: Collision Response]] - Feb/Mar 97<br>We finish off 2D physics with collision response, including the angular effects induced by a collision. The 2D physics sample, [[#Physics Samples\|discussed below]], demonstrates all the concepts learned so far.
	* [[Media:gdmphys4.pdf \| Physics, Part 4: The Third Dimension]] - June 97<br>The final article in the series. To pack in all the 3D equivalents of the first three articles, I created this monster of an article. It comes in at twice the length of the others, with 6000 words and 20 equations.		* [[Media:gdmphys4.pdf \| Physics, Part 4: The Third Dimension]] - June 97<br>The final article in the series. To pack in all the 3D equivalents of the first three articles, I created this monster of an article. It comes in at twice the length of the others, with 6000 words and 20 equations.