dmech
dmech stands for "D mechanics": it is a real-time 3D physics engine written in D language, capable of simulating rigid body dynamics. It is more suitable for computer games than scientific simulations: the goal is to convince a player, rather than giving accurate results. dmech is GC-free and fully platform-independent, it can be used with any API or graphics engine.
If you like dmech, please support its development on Patreon. You can also make one-time donation via PayPal. I appreciate any support. Thanks in advance!
Screenshots
Features
- Impulse-based rigid body dynamics with iterative SI solver
- High-performance collision detection (MPR algorithm)
- Basic geometry shapes (sphere, box, cylinder, cone, ellipsoid)
- Support for any convex shape defined by support mapping
- Multiple geometries per body
- Arbitrary static trimeshes (collision detection is optimized via BVH)
- Body constraints: distance, angular, slider, ball-socket, prismatic, hinge
- Persistent contact cache
- Ray cast support
- Ownership-based memory management
- Partial C API (will be finished soon)
Planned in future:
- More shapes (capsule, plane, convex hull, etc.)
- Minkowski sum shape
- Force fields
- Convex cast
- In long-term: vehicle engine, particles, soft-body physics, OpenCL support
Dependencies
dmech heavily relies on dlib - a collection of utility libraries for D, including linear math and computational geometry functionality.
Documentation
See tutorials.
Usage examples
You can find some simple examples in demos directory.
More advanced, real-world usage examples are Dagon demo application which features vehicle physics and provides better graphics and interesting user interaction, and Atrium, an in-development physics based action game.
License
Copyright (c) 2013-2020 Timur Gafarov. Distributed under the Boost Software License, Version 1.0. (See accompanying file COPYING or at http://www.boost.org/LICENSE_1_0.txt)