Rigid Body Simulator - Mar '04

       
This was a rigid body simulator I wrote for a graduate class at the University of Illinois. The project focused more on collision resolution than collision detection, so I hacked together my own collision detection code for boxes, which is why I only use boxes in the demonstration. The collision resolution code, however, should work for any oddly-shaped object, provided proper collision resolution for that object. My main reference for this was David Baraff's notes on Rigid Body Simulation. Click on the above images to get a few videos of some boxes bouncing around.