linear-sim

minimal linear 3D simulation

This library is a small dynamic simulation with the following features:

• Static objects with fixed positions
• Dynamic objects with only linear (position) time derivatives
• Three axis-aligned bounding volumes for static or dynamic objects: Sphere, Capsule and Cuboid (AABB)
• Two unbounded volumes: Orthants and Halfspaces for static objects
• Gravity force and user-created forces
• Continuous collision detection and response