A header only Constraint Based Rigid Body Physics Engine developed during the Physically Based Simulation lecture at ETH 2016 by Thomas Wolf, Thomas Etterlin and Stephan Zehnder.

• Video
• Android App

• Hinge, distance, spring, balljoint constraints
• Inactivity Detector
• Lightweight: Only GLM and Eigen3 needed for the physics part
• Android (OpenGL ES) and Desktop (OpenGL) demos provided

git submodule init
git submodule update
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8

./main

• A / S / D / W for navigating
• 1 / 2 / ... to change scene
• b / n / m to change render modes
• space / q / e to shoot objects
• o to toggle debug mode
• p to pause & resume simulation
• esc to quit