Introduction

The goal of this chapter is to build a simple rigidbody simulation. By the end of the chapter, we will have cubes colliding and bounding off each other on screen. This chapter provides the foundation of a physics system that can handle rigidbodies that have mass and orientation.

In order to respond to collisions, we must first know something about the collisions. To learn about the features of collisions, we begin this chapter by developing Collision Manifolds, which will hold information about collisions.

After we create manifolds, we will build a Linear Impulse system to learn the basics of collision resolution. Finally, we will add Angular Impulse to make the physics system more realistic.