Physics Engine

Description:

Physics Engine is a C++20 2D rigid-body simulation project that implements core physics engine features from the ground up, including dynamic, static, and kinematic bodies, circle and box collision shapes, automatic mass and inertia calculations, broadphase collision detection, BVH acceleration, and narrowphase contact generation. The engine includes a sequential-impulse contact solver with friction, restitution, warm starting, penetration correction, continuous collision detection, and support for distance and fixed joints. It also includes Catch2 unit tests for validating math, collision, constraints, CCD, and stacking stability, along with an SDL2/OpenGL demo that visualizes stable box stacks, falling objects, friction ramps, pendulums, hanging chains, and high-speed collision scenarios.