Muli3

3D Rigid body physics engine.

Same API as Muli, with the dynamics expanded to 3D and multi-threading support.

• Shapes: sphere, capsule, box, polygon, convex, height field, and triangle mesh
• Support for rounded shapes
• Multiple colliders attached to a single body
• Dynamic, static, and kinematic bodies
• Collision filtering
• Dynamic AABB tree broad phase
• Ray cast, shape cast, and area queries

• PGS solver with a separate position correction (PGS NGS)
• Persistent constraint graph
• Graph coloring based solver with multi-threading
• SIMD optimized solver backend
• Constraint islanding and sleeping
• Deterministic simulation
• Contact callbacks: begin, touching, end, pre-solve, and destroy
• Physics material: friction, restitution, and surface velocity
• Various joints with limits and motors

• Cross platform library (C++20)
• 30+ Demos

#include "muli3/muli3.h"

using namespace muli3;

int main()
{
    ThreadPool pool(8);
    
    WorldSettings settings;
    settings.thread_pool = &pool;

    World world(&settings);

    Body* box = world.CreateBox(1.0f);
    box->SetPosition(0.0f, 5.0f, 0.0f);

    // Run simulation for one second
    float dt = 1.0f / 60.0f;
    for(int i = 0; i < 60; ++i)
    {
        world.Step(dt);
    }

    return 0;
}

• Install CMake.
• Ensure CMake is in the system PATH.
• Clone the repository: git clone https://github.com/Sopiro/Muli3
• Run the following commands:

  git clone https://github.com/Sopiro/Muli3
  cd Muli3
  cmake -S . -B build
  cmake --build build --config Release

• You can find the demo executable in build/bin.

You can easily include the library using CMake's FetchContent module.

include(FetchContent)

FetchContent_Declare(
    muli3
    GIT_REPOSITORY https://github.com/Sopiro/Muli3
)

set(MULI3_BUILD_DEMO OFF)
FetchContent_MakeAvailable(muli3)