Physics Engine

A general-purpose physics engine.

current structure

GyPhysics/
├── CMakeLists.txt
├── cmake/
│   └── GyPhysicsWarnings.cmake
├── modules/
│   ├── math/
│   │   ├── include/gy/physics/math/MathTypes.h
│   │   └── tests/MathTypesTest.cpp
│   └── rigid/
│       ├── include/gy/physics/rigid/RigidBody.h
│       ├── src/RigidBody.cpp
│       └── tests/RigidBodyTest.cpp
└── examples/
    └── rigid/main.cpp

Ubuntu dependencies

sudo apt update
sudo apt install build-essential cmake ninja-build libeigen3-dev

double precision build and test

cd /path/GYPhysics
cmake -S . -B build-double -G Ninja -DCMAKE_BUILD_TYPE=Release -DGY_PHYSICS_REAL_TYPE=DOUBLE -DBUILD_TESTING=ON -DGY_PHYSICS_BUILD_EXAMPLES=ON
cmake --build build-double -j "$(nproc)"
ctest --test-dir build-double --output-on-failure
./build-double/examples/rigid/gyphysics_rigid_example

float precision build and test

cd /path/GYPhysics
cmake -S . -B build-float -G Ninja -DCMAKE_BUILD_TYPE=Release -DGY_PHYSICS_REAL_TYPE=FLOAT -DBUILD_TESTING=ON -DGY_PHYSICS_BUILD_EXAMPLES=ON
cmake --build build-float -j "$(nproc)"
ctest --test-dir build-float --output-on-failure
./build-float/examples/rigid/gyphysics_rigid_example

validate a module separately

Only compile and run Math tests:

cd /path/GYPhysics
cmake -S . -B build-double -G Ninja -DCMAKE_BUILD_TYPE=Release -DGY_PHYSICS_REAL_TYPE=DOUBLE -DBUILD_TESTING=ON -DGY_PHYSICS_BUILD_EXAMPLES=ON
cmake --build build-double --target gyphysics_math_tests -j "$(nproc)"
ctest --test-dir build-double -R '^gyphysics\.math$' --output-on-failure

Only compile and run Rigid tests:

cmake -S . -B build-double -G Ninja -DCMAKE_BUILD_TYPE=Release -DGY_PHYSICS_REAL_TYPE=DOUBLE -DBUILD_TESTING=ON -DGY_PHYSICS_BUILD_EXAMPLES=ON
cmake --build build-double --target gyphysics_rigid -j "$(nproc)"
cmake --build build-double --target gyphysics_rigid_tests -j "$(nproc)"
ctest --test-dir build-double -R '^gyphysics\.rigid$' --output-on-failure

Only compile Rigid library:

cmake --build build-double --target gyphysics_rigid

CMake targets and namespaces

模块	CMake 目标	C++ 命名空间
Math	GyPhysics::Math	gy::physics::math
Rigid	GyPhysics::Rigid	gy::physics::rigid

RigidBody do not use Eigen::Vector3d or Eigen::Vector3f, use：

gy::physics::math::Real
gy::physics::math::Vector3
gy::physics::math::Matrix3
gy::physics::math::Quaternion

Windows Compile and Install: Download MSYS2, and open MSYS2 UCRT64. Install the latest packages in MSYS2 UCRT64. If it suggests close terminal, close and reopen it:

pacman -Syu

Install the required packages:

pacman -S --needed \
    mingw-w64-ucrt-x86_64-toolchain \
    mingw-w64-ucrt-x86_64-cmake \
    mingw-w64-ucrt-x86_64-ninja \
    mingw-w64-ucrt-x86_64-eigen3 \
    mingw-w64-ucrt-x86_64-clang-tools-extra

Suggest use Tsinghua mirror:

sed -i "s#https\?://mirror.msys2.org/#https://mirrors.tuna.tsinghua.edu.cn/msys2/#g" /etc/pacman.d/mirrorlist*
grep -n "tuna" /etc/pacman.d/mirrorlist*
pacman -Syyu
pacman -Syu