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A lightweight 3D physics engine.

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• Written in Haxe
• Exported as JavaScript (see bin/js/)
  • Public classes and methods will be exposed through windwow.OIMO.
  • e.g. new OIMO.Vec3(1, 2, 3) to create an instance of Vec3 class.
• Rigid body motion types
  • Dynamic
  • Static
  • Kinematic
• Fast collision detection with bounding volume hierarchy (BVH)
• Contacts with friction and restitution
• Collision geometries
  • Sphere
  • Box
  • Cylinder
  • Cone
  • Capsule
  • Convex hull
• Joints with springs, limits and motors
  • Spherical (a.k.a. ball and socket, point to point)
  • Revolute (a.k.a. hinge)
  • Cylindrical
  • Prismatic (a.k.a. slider)
  • Universal
  • Ragdoll (a.k.a. cone twist, character)
• Breakable joints
• Constraint solvers
  • Direct block MLCP solver
  • Projected Gauss-Seidel solver
• Sleepings with island splittings
• Rotation limits
• Collision event callbacks
• Collision filterings
• Collision queries
  • AABB query
  • ray casting
  • convex casting

• Use Haxe 4.0.0 or later
• main class: demo.js.DemoJS
• Try enabling compiler options if fails
  • -D analyzer
  • -D eval-stack

The MIT License

• Written in ActionScript 3.0
• Supports spheres and boxes as collision shapes
• Supports various joints (ball and socket, distance, hinge, prismatic, etc...)
• Fast and stable collision solver
• Available in old/ directory