Game Physics Engine Development

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**Introduction**What is Game Physics?

What is a Physics Engine?

Approaches to Physics Engines

The Mathematics of Physics Engines

The Source Code in the Book

How the Book is Structured

PART I Particle Physics

The Mathematics of Particles

Vectors

Calculus

Summary

Exercises

The First Two Laws

The Integrator

Summary

Exercises

Fireworks

Summary

Projects

PART II Mass Aggregate Physics

Adding General Forces

Force Generators

Built-In Gravity and Damping

Summary

Exercises

Spring-Like Force Generators

Stiff Springs

Summary

Exercises

Collision Processing

The Contact Resolver Algorithm

Collision-Like Things

Summary

Exercises

Using the Physics Engine

Summary

Projects

PART III Rigid-Body Physics

The Mathematics of Rotations

Orientation in 3D

Angular Velocity and Acceleration

Implementing the Mathematics

Summary

Exercises

Newton-2 for Rotation

D'Alembert for Rotation

The Rigid-Body Integration

Summary

Exercises

Using the Physics Engine

Summary

Projects

PART IV Collision Detection

Collision Detection

Broad-Phase Collision Detection

Bounding Volume Hierarchies

Spatial Partitioning

Summary

Exercises

Contact Generation

Simple Collision Algorithms

Separating Axis Tests

Coherence

Summary

Exercises

PART V Contact Physics

Collision Resolution

Collision Impulses

Resolving Interpenetration

The Collision Resolution Process

Summary

Exercises

Microcollisions

Types of Friction

Implementing Friction

Friction and Sequential Contact Resolution

Summary

Exercises

Optimizations

Summary

Using the Physics Engine

Limitations of the Engine

Summary

Projects

PART VI Further Topics in Physics

Physics in Two Dimensions

Vector Mathematics

Particle and Mass Aggregate Physics

The Mathematics of Rotation

Rigid-Body Dynamics

Collision Detection

Collision Response

Summary

Projects

C

Java

C#

Other Scripting Languages

Reduced Coordinate Approaches

Summary

Discrete Masses

Continuous Masses

Common Shapes

Cuboid

Sphere

Cylinder

Cone

Hemisphere

Moments of Inertia in 2D

Common 2D Shapes

Quaternions

Matrices

Integration

Physics

Other Forumlas

Ian Millington is a partner of IPR Ventures, a consulting company developing next-generation AI technologies for entertainment, modeling, and simulation. Previously he founded Mindlathe Ltd, the largest specialist AI middleware company in computer games, working with on a huge range of game genres and technologies. He has a long background in AI, including PhD research in complexity theory and natural computing. He has published academic and professional papers and articles on topics ranging from paleontology to hypertext.

Praise for 1st edition:

"The first game physics book to emphasize building an actual engine...his book fills a gap by demonstrating how you actually build a physics engine." - Dave Eberly, President, Geometric Tools.

"A competent programmer with sufficient mathematical sophistication could build a physics engine just from the text and equations--even without the accompanying source code. You can't say this about a lot of books!" - Philip J. Schneider, Industrial Light & Magic.

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