Game Physics Cookbook

Chapter 15. Manifolds and Impulses

In this chapter, we will add volume to our rigidbodies. This means that a rigidbody will have a mass, position, orientation, and shape. By the end of the chapter, we will have an advanced physics engine to make cubes collide and react in a realistic way. This chapter will cover the following topics:

• Manifold for spheres
• Manifold for boxes
• Rigidbody modifications
• Linear Velocity
• Linear Impulse
• Physics system update
• Angular Velocity
• Angular Impulse

Introduction

The goal of this chapter is to build a simple rigidbody simulation. By the end of the chapter, we will have cubes colliding and bounding off each other on screen. This chapter provides the foundation of a physics system that can handle rigidbodies that have mass and ...