Bullet A free 3D collision detection and rigid body dynamics library for games
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Bullet Description

A free 3D collision detection and rigid body dynamics library for games Bullet is a free and open source 3D Game Multiphysics Library that will provide game developers with state of the art collision detection, soft body and rigid body dynamics.NOTE: The Library is Open Source and free for commercial use, under the ZLib license. This means you can use it in commercial games, even on next-generation consoles like Sony Playstation 3. Here are some key features of "Bullet": · Used by many game companies in AAA titles on Playstation 3, XBox 360, Nintendo Wii and PC · Modular extendible C++ design with hot-swap of most components · Optimized back-ends with multi-threaded support for Playstation 3 Cell SPU and other platforms · Discrete and continuous collision detection (CCD) · Swept collision queries · Ray casting with custom collision filtering · Generic convex support (using GJK), capsule, cylinder, cone, sphere, box and non-convex triangle meshes. · Rigid body dynamics including constraint solvers, generic constraints, ragdolls, hinge, ball-socket · Support for constraint limits and motors · Soft body support including cloth, rope and deformable · Bullet is integrated into Blender 3D and provides a Maya Plugin · Supports import and export into COLLADA 1.4 Physics format · Support for dynamic deformation of non-convex triangle meshes, by refitting the acceleration structures Multi Platform support: · Playstation 3, XBox 360, Wii, Win32, Linux, Mac OSX etc. · Parallel optimizations for Cell SPU, multi-core · Fully Open Source, ZLib license (free for commercial use) · Used by several professional game companies in AAA titles on Playstation 3, XBox 360, Wii and PC Supports various shape types: · Convex Polyhedron, Box, Sphere, Cone, Cylinder, Capsule, Static Triangle Mesh, Heightfield Discrete Collision Detection for Rigid Body Simulation: · Persistent Manifold, with contact point reduction · Collision Results can also be used for AI/Triggers/Character Control · GJK based general convex collision detection Single Queries: · Closest Point/Normal/Distance · Penetration Depth estimation · Ray Cast · Linear Cast / Swept Collision Test · Experimental Continuous Collision Detection/Time of Impact (incl. Rotation) Optimizations: · Sweep and Prune Broadphase · Bounding Volume Hierarchy for Static Triangle Mesh (AABB tree) · Allows re-use of graphics mesh, instead of duplicating (using index/stride) Documentation and Support: · Auto generation of MSVC project files, comes with Jam build system · Doxygen commented Source documentation · Modular design: either use all, or just parts of the software · Feedback, support, Physics discussion forum · Bullet Collision Detection works with Bullet Dynamics, but there is also a sample integration with Open Dynamics Engine. Dynamics Features: · Framework with 2 different Constraint Solvers: Sequential Impulse, Projected Gauss Siedel (quickstep) · Hinge, Point to Point Constraint, Twist Cone Constraint (ragdolls) · Automatic de-activation (sleeping) · Generic 6 Degree of Freedom Constraint , Motors, Limits · LCP Warm starting of contact points Extra Features: · Collada 1.4 Physics Import using FCollada and COLLADA-DOM · Convex Decomposition Code

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