ODE

而且它有內建的碰撞檢測系統。本人的主要工作是研究 ODE物理引擎在3D遊戲中的應用。研究主要是通過學習ODE的用戶手冊、閱讀和理解ODE的代碼然後掌握ODE的編程介面從而使用ODE剛體遊戲引擎編 寫3D遊戲場景來體現ODE的應用。3D遊戲場景的編寫主要使用了3D圖形API－OpenGL 和ODE引擎等遊戲模擬技術。

總共實現了以下基本的剛體物理運動遊戲場景：

（1）單擺運動：主要體現了球連接的具體使用。

（2）桌球：主要體現了碰撞的處理。

（3）汽車：主要體現了Hinge－2連接的使用。

（4）拋物線運動：主要體現了剛體方向和速度具體處理方法。

支持功能如下：

· Rigid bodies with arbitrary mass distribution.

· Joint types: ball-and-socket, hinge, slider (prismatic), hinge-2, fixed, angular motor, linear motor, universal.

· Collision primitives: sphere, box, cylinder, capsule, plane, ray, and triangular mesh, convex.

· Collision spaces: Quad tree, hash space, and simple.

· Simulation method: The equations of motion are derived from a Lagrange multiplier velocity based model due to Trinkle/Stewart and Anitescu/Potra.

· A first order integrator is being used. It's fast, but not accurate enough for quantitative engineering yet. Higher order integrators will come later.

· Choice of time stepping methods: either the standard ``big matrix'' method or the newer iterative QuickStep method can be used.

· Contact and friction model: This is based on the Dantzig LCP solver described by Baraff, although ODE implements a faster approximation to the Coloumb friction model.

· Has a native C interface (even though ODE is mostly written in C++).

· Has a C++ interface built on top of the C one.

· Many unit tests, and more being written all the time.

· Platform specific optimizations.

· Other stuff I forgot to mention...