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Cirobb is a2D Rigid Body Physics Engine inspired byBox2D Lite that was created with the purpose of helping people who are starting in this wonderful world of physics for Videogames. The Engine uses the Erin Catto's Contact Persistence Algorithm and it's implementation of the PGS (Projected Gauss Seidel) solver to solve the MLCP very well known as a SI (Sequential Impulse).

Additionally, it features a straightforward 2D Collision Detection system that efficiently calculates Contact Points, Normal Direction, and Penetration depth. This project aims to provide a clear and detailed understanding of how physics engines work under the hood, making it an ideal learning resource for game developers.

💡 For more complex simulations with multiple constraints and shapes, we recommend usingBox2D, which is considered the best open-source 2D physics engine available.

• WebAssembly Demo (v1.1.8)
• YouTube Demo Video (v1.1.4)

• Iterative Dynamics with Temporal Coherence
• Modeling and Solving Constraints
• Soft Constraints
• Numerical Methods
• Continuous Collision Detection
• Understanding Constraints

• The Separating Axis test Between Convex Polyhedra
• Robust Contact Creation for physics Simulation

• Forum Bullet
• Exploring MLCP Solvers And Featherstone

• Iterative Rigid Body Solvers 2012
• Iterative Rigid Body Solvers 2013

• Impulse-based Dynamic Simulation of Rigid Body Systems

• Book of Physics-Based Animation 2005
• Numerical Methods for Linear Complementarity Problems in Physics-based Animation

• Analytical Methods for Dynamic Simulation of Non-penetrating Rigid Bodies
• Fast Contact Force Computation for Nonpenetrating Rigid Bodies
• Linear-Time Dynamics using Lagrange Multipliers
• Physically Based Modeling, Pixar Animation Studios

• Numerical Integration
• Understanding Rotations

• Position Based Dynamics

• Post-Stabilization for Rigid Body Simulation with Contact and Constraints

• Separating Axis Test (SAT) and Support Points in 2D

• Game Physics Pearls by Gino van den Bergen and Dirk Gregorius
• Real-Time Collision Detection by Christer Ericson

Cirobb is designed as an educational introduction to 2D physics engines. It intentionally maintains simplicity to facilitate learning and understanding of fundamental concepts.