The thesis presents the physics and mathematics necessary for the realization
of the physics engine, suitable for use in real-time applications. In the development
process we have focused on computer games and therefore have taken
into account the limitations and pitfalls that can arise in such a case. We start by presenting the purpose and use of physics engines and also mention already existing solutions. We get to know with particles without mass,
which enable us to realize ballistics, forces in general and springs, as a special
type of them. Then we confront the hard constraints such as collision detection,
resolving collisions in the case of collisions of bodies and their movements
in such situations. This gives us a mass aggregate physics engine, which can be
further upgraded with rotations and thus create a physical engine with rigid
bodies. At the
end, we explain the implementation details of the constructed physics engine
and demonstrate it with an application.
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