dmech

dmech is discontinued. If you need a mature physics engine to use with D, we recommend Newton Dynamics and corresponding BindBC binding.

dmech stands for "D mechanics": it is a real-time 3D physics engine written in D language, capable of simulating rigid body dynamics. It is more suitable for computer games than scientific simulations: the goal is to convince a player, rather than giving accurate results. dmech is GC-free and fully platform-independent, it can be used with any API or graphics engine.

Screenshots

Features

• Impulse-based rigid body dynamics with iterative SI solver
• High-performance collision detection (MPR algorithm)
• Basic geometry shapes (sphere, box, cylinder, cone, ellipsoid)
• Support for any convex shape defined by support mapping
• Multiple geometries per body
• Arbitrary static trimeshes (collision detection is optimized via BVH)
• Body constraints: distance, angular, slider, ball-socket, prismatic, hinge
• Persistent contact cache
• Ray cast support
• Ownership-based memory management
• Partial C API

Dependencies

dmech heavily relies on dlib - a collection of utility libraries for D, including linear math and computational geometry functionality.

Documentation

See tutorials.

Usage examples

You can find some simple examples in demos directory.

More advanced, real-world usage examples are Dagon demo application which features vehicle physics and provides better graphics and interesting user interaction, and Atrium, an in-development physics based action game.

License

Copyright (c) 2013-2020 Timur Gafarov. Distributed under the Boost Software License, Version 1.0. (See accompanying file COPYING or at http://www.boost.org/LICENSE_1_0.txt)