• Open Source
  • Cross-platform
  • Language: C#
  • Breakable joints
  • Linear and angular motion damping
  • Per-shape material settings
  • Contact groups (define which objects can interact physically)
  • Collision detection primitive shapes
  • Boxes
  • Spheres
  • Capsules (i.e. capped cylinders)
  • Planes
  • User-defined triangular mesh collision detection (best for terrains)
  • Joints
    • Hinge joints (one rotational degree of freedom)
    • Universal joints (two rotational degrees of freedom)
    • Ball joints (three rotational degrees of freedom)
    • Wheel joints (two rotational degrees of freedom)
    • Slider joints (i.e. prismatic joints; one translational degree of freedom)
    • Fixed joints (zero degrees of freedom)
  • Motors
    • Attractor motors (provide gravitational attraction between two objects)
    • Geared motors (simplified automobile engines)
    • Servo motors (use limited torque to achieve a desired angle or velocity; similar to PD/PID controllers)
    • Spring motors (simple damped springs; pull objects to a desired position and/or orientation)
    • Thruster motors (provide a constant force on an object)
    • Velocity motors (use force to achieve desired velocity)
  • Sensors
    • Acceleration sensors
    • Incline sensors
    • Raycast sensors
    • Volume sensors
  • Event handlers
    • Collision event handler (notified when objects collide)
    • Joint break event handler (notified when a joint breaks)
    • Movement event handler (notified when solid changes its position or orientation)
    • Post-step event handler (notified at the end of each time step)

Last edited Oct 6, 2006 at 12:24 PM by KleMiX, version 1

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