Game physics engine development: how to build a robust commercial-grade physics engine for your game
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| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Boca Raton, FL [u.a.]
CRC Press
2010
|
| Edition: | 2. ed. |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis Klappentext |
| Physical Description: | XXIX, 522 S. graph. Darst. |
| ISBN: | 9780123819765 9781138403123 |
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MARC
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| 100 | 1 | |a Millington, Ian |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Game physics engine development |b how to build a robust commercial-grade physics engine for your game |c Ian Millington |
| 250 | |a 2. ed. | ||
| 264 | 1 | |a Boca Raton, FL [u.a.] |b CRC Press |c 2010 | |
| 300 | |a XXIX, 522 S. |b graph. Darst. | ||
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Record in the Search Index
| _version_ | 1804143844248256512 |
|---|---|
| adam_text | Contents
List of Figures
xix
Preface to the Second Edition
ххШ
Preface to the First Edition
xxv
Acknowledgments
xxvii
About the Author
xxix
Chapter
Introduction
і
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
n
1.6.1
Exercises and Projects
12
VU
vill
Contents
PART
1
PARTICLE PHYSICS
Chapter
The Mathematics of Particles
2.1
Vectors
2.1.1
The Handedness of Space
2.1.2
Vectors and Directions
2.1.3
Scalar and Vector Multiplication
2.1.4
Vector Addition and Subtraction
2.1.5
Multiplying Vectors
2.1.6
The Component Product
2.1.7
The Scalar Product
2.1.8
The Vector Product
2.1.9
The
Orthonormal
Basis
2.2
Calculus
2.2.1
Differential Calculus
2.2.2
Integral Calculus
2.3
Summary
2.4
Exercises
Chapter
The Laws of Motion
3.1
The Particle
3.2
The First Two Laws
3.2.1
The Force Equations
3.2.2
Adding Mass to Particles
3.2.3
Momentum and Velocity
3.2.4
The Force of Gravity
3.3
The Integrator
3.3.1
The Update Equations
3.3.2
The Complete Integrator
3.4
Summary
3.5
Exercises
15
17
17
21
23
25
27
29
30
31
33
37
38
38
43
44
45
47
48
49
50
51
52
53
55
55
57
58
59
Chapter
The Particle Physics Engine
4.1
Ballistics
4.1.1
Setting Projectile Properties
4.1.2
Implementation
61
61
62
63
Contents ix
4.2
Fireworks
66
4.2.1
The Fireworks Data
66
4.2.2
Firework Rules
67
4.2.3
The Implementation
69
4.3
Summary
73
4.4
Projects
73
PART II Mass Aggregate Physics
75
Chapter
Adding General Forces
77
5.1
D Alembert s Principle
77
5.2
Force Generators
80
5.2.1
Interfaces and Polymorphism
81
5.2.2
Implementation
81
5.2.3
A Gravity Force Generator
84
5.2.4
A Drag Force Generator
85
5.3
Built-In Gravity and Damping
87
5.4
Summary
87
5.5
Exercises
88
Chapter
Springs and Spring-Like Things
89
6.1
Hook s Law
89
6.2
Spring-like Force Generators
92
6.2.1
A Basic Spring Force Generator
92
6.2.2
An Anchored Spring Generator
94
6.2.3
An Elastic Bungee Generator
96
6.2.4
A Buoyancy Force Generator
98
6.3
Stiff Springs
101
6.3.1
The Stiff Springs Problem
102
6.3.2
Faking Stiff Springs
104
6.4
SUMMARY
110
6.5
Exercises
110
χ
Contents
Chapter
Hard Constraints
из
7.1
Simple Collision Resolution
113
7.1.1
The Closing Velocity
114
7.1.2
The Coefficient of Restitution
115
7.1.3
The Collision Direction and the Contact Normal
115
7.1.4
Impulses
117
7.2
Collision processing
118
7.2.1
Collision Detection
121
7.2.2
Resolving
Interpénétration
123
7.2.3
Resting Contacts
126
7.3
The Contact
Resolver
Algorithm
130
7.3.1
Resolution Order
131
7.3.2
Time-Division Engines
135
7.4
COLLISION-LIKE THINGS
136
7.4.1
Cables
137
7.4.2
Rods
140
7.5
SUMMARY
142
7.6
EXERCISES
■ 142
Chapter
8
The Mass Aggregate Physics Engine
145
8.1
overview of the Engine
145
8.2
using the Physics Engine
151
8.2.1
Rope Bridges and Cables
151
8.2.2
Friction
152
8.2.3
Blob Games
153
8.3
SUMMARY
153
8.4
PROJECTS
154
PART III Rigid-Body Physics
____________155
Chapter
У
The Mathematics of Rotations
157
9.1
Rotating Objects in 2D
158
9.1.1
The Mathematics of Angles
158
Contents
χι
9.1.2
Angular
Speed 159
9.1.3
The Origin and the
Center
of Mass
160
9.2
Orientation in
3D 165
9.2.1
Euler
Angles
165
9.2.2
Axis-Angle
167
9.2.3
Rotation Matrices
168
9.2.4
Quaternions
169
9.3
Angular velocity and Acceleration
172
9.3.1
Velocity of a Point
173
9.3.2
Angular Acceleration
173
9.4
IMPLEMENTING THE MATHEMATICS
173
9.4.1
The Matrix Classes
174
9.4.2
Matrix Multiplication
175
9.4.3
Matrix Inverse and Transpose
184
9.4.4
Converting a Quaternion to a Matrix
191
9.4.5
Transforming Vectors
193
9.4.6
Changing the Basis of a Matrix
197
9.4.7
The Quaternion Class
198
9.4.8
Normalizing Quaternions
200
9.4.9
Combining Quaternions
200
9.4.10
Rotating
201
9.4.11
Updating by the Angular Velocity
202
9.5
Summary
203
9.6
Exercises
203
Chapter
10
Laws of motion for Rigid Bodies
207
10.1
The Rigid Body
207
10.2
Newton-2 for Rotation
211
10.2.1
Torque
211
10.2.2
The Moment of Inertia
213
10.2.3
Inertia Tensor in World Coordinates
216
10.3
D ALEMBERT FOR ROTATION
220
10.3.1
Force Generators
223
10.4
The Rigid-Body Integration
226
10.5
Summary
228
10.6
Exercises
228
Xli Contents
Chapter
11
The Rigid-Body Physics Engine
231
11.1
Overview of the Engine
231
11.2
using the Physics Engine
234
11.2.1
A Flight Simulator
234
11.2.2
A Sailing Simulator
242
11.3
Summary
247
11.4
Projects
248
PART IV Collision Detection
__________251
Chapter
12
Collision Detection
253
12.1
The Collision Detection Pipeline
254
12.2
Broad-Phase Collision Detection
255
12.2.1
Requirements
256
12.3
BOUNDING VOLUME HIERARCHIES
257
12.3.1
Hierarchies
259
12.3.2
Building the Hierarchy
266
12.3.3
Subobject Hierarchies
275
12.4
Spatial Partitioning
276
12.4.1
Binary Space Partitioning
276
12.4.2
Oct-Trees and Quad-Trees
281
12.4.3
Grids
283
12.4.4
Multiresolution Maps
287
12.5
Summary
288
12.6
Exercises
288
Chapter
13
Generating Contacts
29
і
13.1
Collision Geometry
292
13.1.1
Primitive Assemblies
293
13.2
Contact Generation
294
13.2.1
Contact Types
295
13.2.2
Contact Data
298
13.2.3
Vertex-Face Contacts
300
Contents
ХШ
13.2.4
Edge-Edge
Contacts
301
13.2.5
Edge-Face Contacts
301
13.2.6
Face-Face Contacts
302
13.2.7
Testing Before Generating Contacts
303
13.3
Simple Collision Algorithms
304
13.3.1
Colliding Two Spheres
305
13.3.2
Colliding a Sphere and a Plane
307
13.3.3
Colliding a Box and a Plane
310
13.3.4
Colliding a Box and a Sphere
315
13.4
SEPARATING AXIS TESTS
319
13.4.1
Generating Contact Data with SATs
320
13.4.2
Colliding Two Boxes
322
13.4.3
Colliding Convex Polyhedra
326
13.5
COHERENCE
328
13.6
SUMMARY
331
13.7
Exercises
331
PART V Contact Physics
333
Chapter
14
Collision resolution
335
14.1
IMPULSE AND IMPULSIVE TORQUE
335
14.1.1
Impulsive Torque
336
14.1.2
Rotating Collisions
338
14.1.3
Handling Rotating Collisions
339
14.2
COLLISION IMPULSES
340
14.2.1
Change to Contact Coordinates
340
14.2.2
Velocity Change by Impulse
347
14.2.3
Impulse Change by Velocity
3 51
14.2.4
Calculating the Desired Velocity Change
351
14.2.5
Calculating the Impulse
353
14.2.6
Applying the Impulse
353
14.3
RESOLVING
INTERPENETRATION
355
14.3.1
Choosing a Resolution Method
355
14.3.2
Implementing Nonlinear Projection
359
14.3.3
Avoiding Overrotation
362
14.4
The Collision Resolution Process
364
14.4.1
The Collision Resolution Pipeline
365
14.4.2
Preparing Contact Data
367
xiv Contents
14.4.3
Resolving
Penetration 372
14.4.4
Resolving Velocity
379
14.4.5
Alternative Update Algorithms
381
14.5
Summary
384
14.6
Exercises
385
Chapter
15
resting Contacts and Friction
387
15.1
Resting Forces
388
15.1.1
Force Calculations
389
15.2
MICROCOLLISIONS
390
15.2.1
Removing Accelerated Velocity
392
15.2.2
Lowering the Restitution
393
15.2.3
The New Velocity Calculation
394
15.3
Types of Friction
395
15.3.1
Static and Dynamic Friction
395
15.3.2 Isotropie
and
Anisotropie
Friction
398
15.4
IMPLEMENTING FRICTION
399
15.4.1
Friction as Impulses
400
15.4.2
Modifying the Velocity Resolution Algorithm
402
15.4.3
Putting It All Together
407
15.5
Friction and Sequential Contact Resolution
410
15.6
Summary
411
15.7
Exercises
412
Chapter
16
Stability and Optimization
4із
16.1
Stability
413
16.1.1
Quaternion Drift
414
16.1.2
Interpénétration
on Slopes
415
16.1.3
Integration Stability
417
16.1.4
The Benefit of Pessimistic Collision Detection
419
16.1.5
Changing Mathematical Accuracy
420
16.2
Optimizations
421
16.2.1
Sleep
422
16.2.2
Margins of Error for Penetration and Velocity
430
16.2.3
Contact Grouping
432
16.2.4
Code Optimizations
434
16.3
Summary
436
Contents xv
Chapter
17
Putting It All Together
437
17.1
Overview of the Engine
437
17.2
Using the Physics Engine
439
17.2.1
Ragdolls
440
17.2.2
Fracture Physics
445
17.2.3
Explosive Physics
451
17.3
LIMITATIONS OF THE ENGINE
458
17.3.1
Stacks
458
17.3.2
Reaction Force Friction
458
17.3.3
Joint Assemblies
459
17.3.4
Stiff Springs
459
17.4
SUMMARY
459
17.5
Projects
459
PART VI Further Topics in Physics
_____461
Chapter
18
Physics in Two Dimensions
4бз
18.1
2D OR
3D? 463
18.2
vector Mathematics
465
18.3
Particle and mass Aggregate Physics
467
18.4
The Mathematics of Rotation
467
18.4.1
Representing Rotation
467
18.4.2
Matrices
469
18.5
Rigid-Body Dynamics
469
18.6
Collision detection
471
18.6.1
Vertex-Edge Contacts
472
18.6.2
Edge-Edge Contacts
472
18.6.3
Contact Generation
472
18.7
COLLISION RESPONSE
473
18.8
SUMMARY
473
18.9
PROJECTS
474
XVI Contents
Chapter
19
Other Programming Languages
475
19.1
actionscript
3 475
19.2
С
479
19.3
Java
480
19.4
C#
481
19.5
Other Scripting Languages
482
Chapter
20
Other Types of Physics
483
20.1
Simultaneous Contact resolution
483
20.1.1
Thejacobian
484
20.1.2
The Linear-Complementarity Problem
485
20.2
REDUCED COORDINATE APPROACHES
488
20.3
SUMMARY
489
Appendix
Useful Inertia Tensors
491
A.1 DISCRETE MASSES
492
A.2 Continuous masses
492
A.3 Common Shapes
493
A.3.1 Cuboid
493
A.3.2 Sphere
493
A.3.3 Cylinder
494
A.3.4 Cone
494
A.3.5 Hemisphere
495
A.4 Moments of Inertia in 2D
495
A.4.1 Common 2D Shapes
495
Appendix
ЖЈ
Useful Friction Coefficients
497
Appendix
Mathematics Summary
499
c.i vectors
499
Contents xvii
C.2
Quaternions
500
С.З
Matrices
501
C.4 Integration
502
C.5 Physics
503
C.6 Other
Forumlas 504
Glossary
505
Bibliography
509
Index 5ii
COMPUTERS
/
COMPUTER GRAPHICS
/ GAME PROGRAMMING
GAME PHYSICS
ENGINE DEVELOPMENT
HOW TO BUILD A ROBUST COMMERCIAL-GRADE
PHYSICS ENGINE FOR YOUR GAME
SECOND EDITION
A masterclass at your fingertips, Game Physics Engine Development, Second Edition
breaks down the often difficult and mathematically challenging process of game engine
development. Game developer, Ian Millington, takes readers through the process of building
a complete game-ready physics engine from scratch.
•
Features new material on collision detection, 2D physics, casual game physics for
Flash games.
•
Supports each new concept with diagrams, code, end-of-chapter exercises and
resources.
•
Covers particle effects, flight simulation, car physics, crates, destructible objects, cloth
and ragdolls, and more.
•
Companion web site (www.procyclone.com) offers immediate, hands-on source code for
the Cyclone physics engine (which has been used in commercial grade development)
along with example applications that show the physics system in operation.
This truly accessible text covers the full process of building a physics engine from start to finish—all
brought up to date for present-day casual games, and collision detection. Simulate Newtonian
physics and improve realism in your games while predicting effects under different conditions.
Ian Millington is a consultant specializing in research and development for the games industry.
He has done a good deal of work on physics engines and developing physics code. He was
previously the CEO of a games technology company, and before that he ran one of the first
Web-based games companies. Millington s background is in artificial intelligence, and he has
published academically on a range of topics. Ian Millington is also author of Morgan Kaufmann s
Artificial Intelligence for Games.
USER LEVEL: BEGINNER-INTERMEDIATE GAME DEVELOPERS
M<
$49.95
ISBN
476-0-12-361471.-5
90000
MORGAN
RAUFMANN
PUBLISHERS
AN IMPRINT OF
ELSEVIER
www.mkp.com
|
| any_adam_object | 1 |
| author | Millington, Ian |
| author_facet | Millington, Ian |
| author_role | aut |
| author_sort | Millington, Ian |
| author_variant | i m im |
| building | Verbundindex |
| bvnumber | BV037236447 |
| callnumber-first | Q - Science |
| callnumber-label | QA76 |
| callnumber-raw | QA76.76.C672 |
| callnumber-search | QA76.76.C672 |
| callnumber-sort | QA 276.76 C672 |
| callnumber-subject | QA - Mathematics |
| classification_rvk | ST 324 SU 500 |
| classification_tum | PHY 004f DAT 758f PHY 016f |
| ctrlnum | (OCoLC)711827938 (DE-599)BVBBV037236447 |
| dewey-full | 794.8/1526 |
| dewey-hundreds | 700 - The arts |
| dewey-ones | 794 - Indoor games of skill |
| dewey-raw | 794.8/1526 |
| dewey-search | 794.8/1526 |
| dewey-sort | 3794.8 41526 |
| dewey-tens | 790 - Recreational and performing arts |
| discipline | Physik Sport Informatik |
| edition | 2. ed. |
| format | Book |
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| id | DE-604.BV037236447 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T22:54:07Z |
| institution | BVB |
| isbn | 9780123819765 9781138403123 |
| language | English |
| lccn | 2010014533 |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-021150028 |
| oclc_num | 711827938 |
| open_access_boolean | |
| owner | DE-703 DE-91G DE-BY-TUM DE-523 DE-1046 DE-859 DE-861 DE-Aug4 DE-384 |
| owner_facet | DE-703 DE-91G DE-BY-TUM DE-523 DE-1046 DE-859 DE-861 DE-Aug4 DE-384 |
| physical | XXIX, 522 S. graph. Darst. |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | CRC Press |
| record_format | marc |
| spelling | Millington, Ian Verfasser aut Game physics engine development how to build a robust commercial-grade physics engine for your game Ian Millington 2. ed. Boca Raton, FL [u.a.] CRC Press 2010 XXIX, 522 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Datenverarbeitung Computer games Programming Physics Data processing Programmierung (DE-588)4076370-5 gnd rswk-swf Maschine (DE-588)4037786-6 gnd rswk-swf Computerphysik (DE-588)4273564-6 gnd rswk-swf Computerspiel (DE-588)4010457-6 gnd rswk-swf Gesetz Physik (DE-588)4139909-2 gnd rswk-swf Computerspiel (DE-588)4010457-6 s Maschine (DE-588)4037786-6 s Programmierung (DE-588)4076370-5 s Gesetz Physik (DE-588)4139909-2 s DE-604 Computerphysik (DE-588)4273564-6 s Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=021150028&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=021150028&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Klappentext |
| spellingShingle | Millington, Ian Game physics engine development how to build a robust commercial-grade physics engine for your game Datenverarbeitung Computer games Programming Physics Data processing Programmierung (DE-588)4076370-5 gnd Maschine (DE-588)4037786-6 gnd Computerphysik (DE-588)4273564-6 gnd Computerspiel (DE-588)4010457-6 gnd Gesetz Physik (DE-588)4139909-2 gnd |
| subject_GND | (DE-588)4076370-5 (DE-588)4037786-6 (DE-588)4273564-6 (DE-588)4010457-6 (DE-588)4139909-2 |
| title | Game physics engine development how to build a robust commercial-grade physics engine for your game |
| title_auth | Game physics engine development how to build a robust commercial-grade physics engine for your game |
| title_exact_search | Game physics engine development how to build a robust commercial-grade physics engine for your game |
| title_full | Game physics engine development how to build a robust commercial-grade physics engine for your game Ian Millington |
| title_fullStr | Game physics engine development how to build a robust commercial-grade physics engine for your game Ian Millington |
| title_full_unstemmed | Game physics engine development how to build a robust commercial-grade physics engine for your game Ian Millington |
| title_short | Game physics engine development |
| title_sort | game physics engine development how to build a robust commercial grade physics engine for your game |
| title_sub | how to build a robust commercial-grade physics engine for your game |
| topic | Datenverarbeitung Computer games Programming Physics Data processing Programmierung (DE-588)4076370-5 gnd Maschine (DE-588)4037786-6 gnd Computerphysik (DE-588)4273564-6 gnd Computerspiel (DE-588)4010457-6 gnd Gesetz Physik (DE-588)4139909-2 gnd |
| topic_facet | Datenverarbeitung Computer games Programming Physics Data processing Programmierung Maschine Computerphysik Computerspiel Gesetz Physik |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=021150028&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=021150028&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
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