Game Physics Engine Development, 2nd Edition

Contents

List of Figures xix

Preface to the Second Edition xxiii

Preface to the First Edition xxv

Acknowledgments xxvii

About the Author xxix

Chapter

1

Introduction 1

1.1

What Is Game Physics? 2

1.2

What Is a Physics Engine? 2

1.2.1 Advantages of a Physics Engine 3

1.2.2 Weaknesses of a Physics Engine 4

1.3

Approaches to Physics Engines 5

1.3.1 Types of Objects 5

1.3.2 Contact Resolution 6

1.3.3 Impulses and Forces 6

1.3.4 What We’re Building 7

1.4

The Mathematics of Physics Engines 8

1.4.1 The Math You Need to Know 8

1.4.2 The Math We’ll Review 9

1.4.3 The Math I’ll Introduce 10

1.5

The Source Code in the Book 10

1.6

How the Book Is Structured 11

1.6.1 Exercises and Projects 12

vii

viii Contents

PART I Particle Physics 15

Chapter

2

The Mathematics of Particles 17

2.1

Vectors ...