as already indicated in another thread, I published my physics engine on GitHub now. It is licensed under the zlib license. It is implemented in Object Pascal.
GitHub repo: https://github.com/BeRo1985/kraft.
Compatible with: Delphi 7-XE7 (but not with the Android and iOS targets), FreePascal >= 2.6.2 (with almost all FPC-supported targets including Android and iOS)
The Kraft Physics Engine has the following features:
- Rigid body dynamics
- Discrete collision detection
- Optional additional continuous collision detection, either with Bilateral Advancement or Conservative Advancement
- Full one-shot contact manifold collision shapes (spheres, capsules, convex hulls, boxes, and for static geometries also triangle meshs)
- Multiple collision shapes per rigid body without the need for a compound shape
- Broadphase collision detection with a dynamic AABB tree
- Fast mid phase for static triangle mesh geometries
- Narrowphase collision detection
- Collision response and friction (Sequential impulses with post projection)
- Joint constraints (Grab, Distance, Rope, Ball Socket, Hinge, Slider, Fixed)
- Collision filtering with groups
- Ray casting
- Sleeping of inactive rigid bodies
- Island-based multithreading
- SIMD optimizations for x86-32 (later also for x86-64)
- Sphere casting / Linear casting
- Raycast vehicles
- More joint constraint types (for example cone twist, universal and/or general 6DOF)
- Cloths / Soft body