joltphysics
https://github.com/jrouwe/joltphysics
C++
A multi core friendly rigid body physics and collision detection library, written in C++, suitable for games and VR applications.
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- Issues
- ApplyBodyCreationSettings can preserve a stale contact manifold after re-add
- Expose post-solve per-contact impulse (e.g. via a new `OnContactSolved` callback)
- Use per-body contact points as friction lever arms (fixes #2121)
- Friction impulses on speculative contacts use the midpoint of the two contact points, which adds `separation/2` to the lever arm and breaks angular-momentum conservation at the contact point
- Some build findings.
- Fix EPA contact point for mesh triangles with long edges
- SixDOFConstraint Pyramid swing limits can overshoot with joint anchors outside Center of Mass
- macOS build (via Xcode) generates a hang warning when run with the Thread Performance Checker
- CharacterVirtual instability when standing on dynamic bodies
- Jitter when CharacterVirtual is standing on a diagonally downwards moving platform
- Docs
- C++ not yet supported