Muli

2D Rigidbody physics engine

Features

Collision

Continuous collision detection (Bilateral advancement by Erin Catto of box2d)
Shapes: circle, capsule and convex polygon
Support for rounded polygons
Multiple shapes attached to a single body
Dynamic, static and kinematic bodies
Collision filtering
Dynamic AABB tree broadphase
Dynamic tree accelerated raycast, shapecast and world query
Easy-to-use collision detection and distance funtions

Physics Simulation

Continuous physics simulation (Time of impact solver and sub-stepping)
Efficient and persistent contact management from box2d
Constraint islanding and sleeping
Stable stacking with 2-contact LCP solver (Block solver)
Decoupled position correction iteration
Contact callbacks: begin, touching, end, pre-solve, post-solve and destroy event
Physics material: friction, restitution and surface speed
Various joints: angle, distance, grab, line, motor, prismatic, pulley, revolute and weld

ETC

50+ Demos
OpenGL based demo framework
Cross platform library
Intuitive and straightforward API
Utilizes specialized memory allocators

Example

#include "muli/muli.h"

using namespace muli;

int main()
{
    WorldSettings settings;
    World world(settings);
  
    RigidBody* box = world.CreateBox(1.0f);
    box->SetPosition(0.0f, 5.0f);
  
    // Run simulation for one second
    float dt = 1.0f / 60.0f;
    for(int i = 0; i < 60; ++i)
    {
        world.Step(dt);
    }
  
    return 0;
}

Building and running

Install CMake
Ensure CMake is in the system PATH
Clone the repository git clone --recursive https://github.com/Sopiro/Muli
Run CMake build script depend on your system
- Visual Studio: Run build.bat
- Otherwise: Run build.sh
You can find the executable demo in the build/bin

Installation

You can install the library using this commands

mkdir build
cd build
cmake -DMULI_BUILD_DEMO=OFF ..
cmake --build . --config Release
cmake --install . --prefix "installation-path"

Assuming you've added "installation-path" to your system PATH, you can now integrate the library into your project

find_package(muli REQUIRED)

target_link_libraries(your-project PRIVATE muli::muli)

Todo

Implement position solve step for joints
Multithreading

References

Here are some great resources to learn how to build a physics engine!

bresilla/Muli