CorP3D

Cor(psman)P(hysic)3D is my try to implement a 3D-Physics engine.

! Attention !

At the moment the development of this library is on hold. But there is still progress, see FPC_cyclone-physics for actual progress.

Why this engine?

When i started coding 3D games i used Newton, but since version 3 i have had to much trouble getting it to work, and the older versions are not available as source, so i was not able to continue using Newton.

Next i tried Kraft which is written in FreePascal and used in Castle Game Engine. I even tried to create first Examples as there is barely no documentation for Kraft. Creating this examples i figured out some "issues" and did not get any responce from the creator. So i had no choice as to abandon this work too :/.

So what's next, well trying to write a own Physic engine ;).

To be honest i am not shure whether i will be ever able to get a working version, but at least i give it a try and even if i am not getting it to work, i hopefully will be able to learn something ..

What is the aim of this engine ?

• First priority is: understanding and writing 3D physics (i am "ok" in IT, but with nearly no knowlege to physics 🙈)
• Second priority is: bring the engine to a point where i can use it in balanced2

What is the planned roadmap ?

• Basic convex hull collisions using the SAT algorithm ✅
• Correct responce (Force / Torque / Rotation)
• Compound collissions (concave objects)
• Support Planes ✅ (only static, not moving, not elastic)
• Support spheres
• Support cylinders (is that possible with SAT ?)
• Support cones (is that possible with SAT ?)
• Speedup the code execution by using all kind of optimizations like:
  • collision spheres (before SAT) ✅
  • octree's
  • further optimizations ?

What is actually not on the roadmap ?

• joints, springs and all that high level stuff that is not needed for balanced2

This does not mean that there will be some point in far future where i include all that fancy stuff.

You found a bug or you know a good physics tutorial ?

Yes, please contact me, contribute to this project and help to improve it.

What is needed to compile and run the code ?

1. clone this repository
2. download uvectormath.pas

Now you have everything to compile the engine. In order to be able to compile the examples you also need to be able to use OpenGL:

1. install LazOpenGLControl into the Lazarus IDE
2. download dglOpenGL.pas

If you also want to compile the editor you additionally need to download:

1. download uquaternion.pas
2. download uopengl_camera.pas

Progress

• 2025.05.04: created repository, readme.md and license.md
• 2025.05.04: Implement basic Object structure, add plane and box, detect collisions between plane and box
• 2025.05.10: SAT Algorithm detects collision between convex hulls (no valid reaction yet)
• 2025.05.15: start with editor