3D Rigidbody Physics Engine Demo

Notes and Credits

This project is a demo of what my 3D rigidbody physics engine is capable of WASD move SPACE jump Q do action This physics engine is based of: 1.Book "Game Physics Engine Development" by Ian Millington (and https://github.com/idmillington/cyclone-physics ) 2.https://danielchappuis.ch/download/ConstraintsDerivationRigidBody3D.pdf 3.http://www.mft-spirit.nl/files/MTamis_Constraints.pdf Contacts generated by modified collision code from 1 are converted to constraints. Constraints are handled through Jacobian matrix + Lagrange multiplier approch described in 2 and 3. This engine was not made in scratch editor, but rather written in a custom programming language I made, that compiles into scratch project. The source code is here (there are 2 branches): https://github.com/Xeltalliv/VsplPhysicsEngine/ Compiler is here: https://xeltalliv.github.io/ScratchTools/ProgLang/ Why I did it this way: There are no ways to cleanly represent vector/matrix/quaternion math in scratch. In this project there are 786 3D vector operations, 35 3x3 matrix operations, 76 3x4 matrix operations and 41 quaternion operations. The scratch blocks code for this is obviously going to be a poorly readable mess regardless of whether it is manually made by human or not. So I chose to make a compiler to let me easily write readable code, which will compile into this mess. And anyone who wants to modify it, can also edit readable code since everything is open source. Keywords for search: 3d physics engine 3d ragdoll joints constraints jacobian lagrange multiplier