- Collision Detection - including Continuous Physics™
- MOPP™ Technology - for compact representation of large collision meshes
- Dynamics and Constraint Solving
- Vehicle Dynamics
- Data Serialization and Art Tool Support
- Visual Debugger for in-game diagnostic feedback
有不少游戏和软件都选择了他做物理引擎,比如HOLO3,失落星球,HL2, 细胞分裂,指环王Online ..etc现在Havok被Intel收购了,以后可能对Intel的CPU会有特别的优化。
- Massively Parallel Physics Architecture
- High-speed GDDR3 Memory Interface
- AGEIA Universal Continuous Collision Detection
- AGEIA Physical Smart Particle Technology
- AGEIA Complex Object Physics System
- AGEIA Scalable Terrain Fidelity
- AGEIA Dynamic Gaming Framework
因为特有的硬件卡(物理加速卡-PPU)支持,所以能处理大量的物理运算,其他几款暂时没得比。Unreal3,GameBryo,Reality Engine等多款商业引擎和游戏都使用了他。
Open Source
- Multi Platform support
- Supports various shape types:
- Discrete Collision Detection for Rigid Body Simulation
- Single Queries:
- Sweep and Prune Broadphase
- Documentation and Support
- Auto generation of MSVC project files, comes with Jam build system
- Bullet Collision Detection works with Bullet Dynamics, but there is also a sample integration with Open Dynamics Engine.
- Framework with 2 different Constraint Solvers
- 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
- Collada 1.4 Physics Import using FCollada and COLLADA-DOM
- Convex Decomposition Code
这款物理引擎的历史也比较久了,但似乎国内知道的ODE的人更多一些,这款物理引擎被Nvidia的开发人员所关注(Nvidia前些时候说过,要用GPU来实现物理加速,可能会最先在这款物理引擎上实现。)
- Rigid bodies with arbitrary mass distribution.
- Joint types: ball-and-socket, hinge, slider (prismatic), hinge-2, fixed, angular motor, linear motor, universal.
- Collision primitives: sphere, box, cylinder, capsule, plane, ray, and triangular mesh, convex.
- Collision spaces: Quad tree, hash space, and simple.
- Simulation method: The equations of motion are derived from a Lagrange multiplier velocity based model due to Trinkle/Stewart and Anitescu/Potra.
- A first order integrator is being used. It’s fast, but not accurate enough for quantitative engineering yet. Higher order integrators will come later.
- Choice of time stepping methods: either the standard ``big matrix’’ method or the newer iterative QuickStep method can be used.
- Contact and friction model: This is based on the Dantzig LCP solver described by Baraff, although ODE implements a faster approximation to the Coloumb friction model.
- Has a native C interface (even though ODE is mostly written in C++).
- Has a C++ interface built on top of the C one.
- Many unit tests, and more being written all the time.
- Platform specific optimizations.
- Joints
- Friction
- Stacking
- Collision Detection
- Rigid Particle
- Breakage
这个物理引擎出现也比较早了,作者是日本人,其实日本的游戏也很发达的,能把技术共享出来,难得啊。(日文的技术网站还是很多的。)Tokamak是一个速度极快的物理引擎,基本上他只能被使用於Windows平台,但是速度上的优势让他佔有一席之地,当然这引擎也是免费提供的,Tokamak有被应用为Blitz3D的插件,所以您若是Blitz3D用户,可能见过其身影。
这款物理引擎名声可能不是很响,但是功能上绝对不差。比较出名的作品有:TV3D, Quest3D。这个物理引擎是跨Win32/Mac/Linux三个平台的,同时也有3DGameStudio插件,在速度和功能上很不错,你也可以找到大量范例,虽然没有开源,但广为使用,有兴趣的人,从这个开始是不错的选择,他也是OGRE游戏引擎的组件之一。(Tip:这款引擎支持Delphi;在后面这个非官方的Wiki上,有一套不错的教程: http://walaber.com/newtonwiki/index.php?title=MainPage )
LiquidFun
谷歌发布的开源2D物理引擎
LiquidFun是一款执行受约束刚体模拟的物理引擎,它以Box2D为基础,并在其上添加了基于粒子的流体模拟。
Reference