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Learning Physics Modeling with PhysX by Krishna Kumar

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Chapter 3. Rigid Body Dynamics

The topics that are covered in this chapter are as follows:

  • Basics of rigid body dynamics.
  • Changing rigid body properties, namely mass, density, velocity, acceleration, and angular motion.
  • Rigid body sleeping state and solver accuracy.

Exploring a rigid body

A rigid body is a physical body having definite mass and a fixed shape. One important property of a rigid body is that it always retains its original shape when we apply external force to it. This property greatly simplifies the physics-related calculations performed on a body (actor), assuming that it follows the properties of a perfect rigid body. A rigid body can also be made of multiple interconnected rigid bodies, and can have properties, such as velocity, force, ...

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