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Yichen Duan
Software Development
Robust Convex Polyhedra Physics System
The goal of this project was to create a robust convex polyhedral physics system , with a Z-up infinite flat world physics playground to showcase all of the features the system has . The physics type is corrective physics , which is step and correct . The artifact has several test cases to show the features implemented in this project .
The artifact will show : the polyhedron versus polyhedron collision detection , linear collision response , angular collision response , polyhedral with different restitution and friction values , sequential impulse implementation , and position solvers . They will all be in separate cases , which means the audience can easily understand what is being shown and how they look like repetitively . The scene will allow the user to use a mouse to click and drag objects around to interact with the showcases .
This physics system focused on using Minkowski difference method to do the collision checks and using Gilbert – Johnson – Keerthi ( GJK ) algorithm to determine if two polyhedrons collide with each other . Expanding Polytope Algorithm ( EPA ) is used to calculate penetration and contact normal between two polyhedrons . The system also uses sequential impulse for solving impulse and separating velocity after collisions .
88 SOFTWARE DEVELOPMENT