├── .codecov.yml ├── .github └── workflows │ ├── build-and-test.yml │ ├── publish-documentation.yml │ └── release.yml ├── .gitignore ├── .gitmodules ├── CHANGELOG.md ├── CMakeLists.txt ├── CMakeModules └── CodeCoverage.cmake ├── FUNDING.yml ├── GenerateNewVersion.py ├── LICENSE ├── README.md ├── VERSION ├── documentation ├── CMakeLists.txt ├── Doxyfile.in ├── README.md ├── UserDocumentation.md ├── custom.css ├── delete_me.css ├── delete_me.html ├── header.html └── images │ ├── CMakeWin.png │ ├── DebugRendering.png │ ├── ReactPhysics3DLogo.png │ ├── VSBuild.png │ ├── VSInstall.png │ ├── boxshape.png │ ├── capsuleshape.png │ ├── concavemeshshape.png │ ├── convexshape.png │ ├── heightfieldshape.png │ ├── sphereshape.png │ └── testbed.png ├── helloworld ├── CMakeLists.txt └── Main.cpp ├── include └── reactphysics3d │ ├── body │ ├── Body.h │ └── RigidBody.h │ ├── collision │ ├── Collider.h │ ├── CollisionCallback.h │ ├── ContactManifold.h │ ├── ContactManifoldInfo.h │ ├── ContactPair.h │ ├── ContactPointInfo.h │ ├── ConvexMesh.h │ ├── HalfEdgeStructure.h │ ├── HeightField.h │ ├── OverlapCallback.h │ ├── PolygonVertexArray.h │ ├── RaycastInfo.h │ ├── TriangleMesh.h │ ├── TriangleVertexArray.h │ ├── VertexArray.h │ ├── broadphase │ │ └── DynamicAABBTree.h │ ├── narrowphase │ │ ├── CapsuleVsCapsuleAlgorithm.h │ │ ├── CapsuleVsConvexPolyhedronAlgorithm.h │ │ ├── CollisionDispatch.h │ │ ├── ConvexPolyhedronVsConvexPolyhedronAlgorithm.h │ │ ├── GJK │ │ │ ├── GJKAlgorithm.h │ │ │ └── VoronoiSimplex.h │ │ ├── NarrowPhaseAlgorithm.h │ │ ├── NarrowPhaseInfoBatch.h │ │ ├── NarrowPhaseInput.h │ │ ├── SAT │ │ │ └── SATAlgorithm.h │ │ ├── SphereVsCapsuleAlgorithm.h │ │ ├── SphereVsConvexPolyhedronAlgorithm.h │ │ └── SphereVsSphereAlgorithm.h │ └── shapes │ │ ├── AABB.h │ │ ├── BoxShape.h │ │ ├── CapsuleShape.h │ │ ├── CollisionShape.h │ │ ├── ConcaveMeshShape.h │ │ ├── ConcaveShape.h │ │ ├── ConvexMeshShape.h │ │ ├── ConvexPolyhedronShape.h │ │ ├── ConvexShape.h │ │ ├── HeightFieldShape.h │ │ ├── SphereShape.h │ │ └── TriangleShape.h │ ├── components │ ├── BallAndSocketJointComponents.h │ ├── BodyComponents.h │ ├── ColliderComponents.h │ ├── Components.h │ ├── FixedJointComponents.h │ ├── HingeJointComponents.h │ ├── JointComponents.h │ ├── RigidBodyComponents.h │ ├── SliderJointComponents.h │ └── TransformComponents.h │ ├── configuration.h │ ├── constraint │ ├── BallAndSocketJoint.h │ ├── ContactPoint.h │ ├── FixedJoint.h │ ├── HingeJoint.h │ ├── Joint.h │ └── SliderJoint.h │ ├── containers │ ├── Array.h │ ├── Deque.h │ ├── LinkedList.h │ ├── Map.h │ ├── Pair.h │ ├── Set.h │ ├── Stack.h │ └── containers_common.h │ ├── decimal.h │ ├── engine │ ├── Entity.h │ ├── EntityManager.h │ ├── EventListener.h │ ├── Island.h │ ├── Islands.h │ ├── Material.h │ ├── OverlappingPairs.h │ ├── PhysicsCommon.h │ └── PhysicsWorld.h │ ├── mathematics │ ├── Matrix2x2.h │ ├── Matrix3x3.h │ ├── Quaternion.h │ ├── Ray.h │ ├── Transform.h │ ├── Vector2.h │ ├── Vector3.h │ ├── mathematics.h │ ├── mathematics_common.h │ └── mathematics_functions.h │ ├── memory │ ├── DefaultAllocator.h │ ├── HeapAllocator.h │ ├── MemoryAllocator.h │ ├── MemoryManager.h │ ├── PoolAllocator.h │ └── SingleFrameAllocator.h │ ├── reactphysics3d.h │ ├── systems │ ├── BroadPhaseSystem.h │ ├── CollisionDetectionSystem.h │ ├── ConstraintSolverSystem.h │ ├── ContactSolverSystem.h │ ├── DynamicsSystem.h │ ├── SolveBallAndSocketJointSystem.h │ ├── SolveFixedJointSystem.h │ ├── SolveHingeJointSystem.h │ └── SolveSliderJointSystem.h │ └── utils │ ├── DebugRenderer.h │ ├── DefaultLogger.h │ ├── Logger.h │ ├── Message.h │ ├── Profiler.h │ └── quickhull │ ├── QHHalfEdgeStructure.h │ └── QuickHull.h ├── src ├── body │ ├── Body.cpp │ └── RigidBody.cpp ├── collision │ ├── Collider.cpp │ ├── CollisionCallback.cpp │ ├── ContactManifold.cpp │ ├── ConvexMesh.cpp │ ├── HalfEdgeStructure.cpp │ ├── HeightField.cpp │ ├── OverlapCallback.cpp │ ├── PolygonVertexArray.cpp │ ├── RaycastInfo.cpp │ ├── TriangleMesh.cpp │ ├── TriangleVertexArray.cpp │ ├── VertexArray.cpp │ ├── broadphase │ │ └── DynamicAABBTree.cpp │ ├── narrowphase │ │ ├── CapsuleVsCapsuleAlgorithm.cpp │ │ ├── CapsuleVsConvexPolyhedronAlgorithm.cpp │ │ ├── CollisionDispatch.cpp │ │ ├── ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp │ │ ├── GJK │ │ │ ├── GJKAlgorithm.cpp │ │ │ └── VoronoiSimplex.cpp │ │ ├── NarrowPhaseInfoBatch.cpp │ │ ├── NarrowPhaseInput.cpp │ │ ├── SAT │ │ │ └── SATAlgorithm.cpp │ │ ├── SphereVsCapsuleAlgorithm.cpp │ │ ├── SphereVsConvexPolyhedronAlgorithm.cpp │ │ └── SphereVsSphereAlgorithm.cpp │ └── shapes │ │ ├── AABB.cpp │ │ ├── BoxShape.cpp │ │ ├── CapsuleShape.cpp │ │ ├── CollisionShape.cpp │ │ ├── ConcaveMeshShape.cpp │ │ ├── ConcaveShape.cpp │ │ ├── ConvexMeshShape.cpp │ │ ├── ConvexPolyhedronShape.cpp │ │ ├── ConvexShape.cpp │ │ ├── HeightFieldShape.cpp │ │ ├── SphereShape.cpp │ │ └── TriangleShape.cpp ├── components │ ├── BallAndSocketJointComponents.cpp │ ├── BodyComponents.cpp │ ├── ColliderComponents.cpp │ ├── Components.cpp │ ├── FixedJointComponents.cpp │ ├── HingeJointComponents.cpp │ ├── JointComponents.cpp │ ├── RigidBodyComponents.cpp │ ├── SliderJointComponents.cpp │ └── TransformComponents.cpp ├── constraint │ ├── BallAndSocketJoint.cpp │ ├── ContactPoint.cpp │ ├── FixedJoint.cpp │ ├── HingeJoint.cpp │ ├── Joint.cpp │ └── SliderJoint.cpp ├── engine │ ├── Entity.cpp │ ├── EntityManager.cpp │ ├── Island.cpp │ ├── Material.cpp │ ├── OverlappingPairs.cpp │ ├── PhysicsCommon.cpp │ └── PhysicsWorld.cpp ├── mathematics │ ├── Matrix2x2.cpp │ ├── Matrix3x3.cpp │ ├── Quaternion.cpp │ ├── Transform.cpp │ ├── Vector2.cpp │ └── Vector3.cpp ├── memory │ ├── HeapAllocator.cpp │ ├── MemoryAllocator.cpp │ ├── MemoryManager.cpp │ ├── PoolAllocator.cpp │ └── SingleFrameAllocator.cpp ├── systems │ ├── BroadPhaseSystem.cpp │ ├── CollisionDetectionSystem.cpp │ ├── ConstraintSolverSystem.cpp │ ├── ContactSolverSystem.cpp │ ├── DynamicsSystem.cpp │ ├── SolveBallAndSocketJointSystem.cpp │ ├── SolveFixedJointSystem.cpp │ ├── SolveHingeJointSystem.cpp │ └── SolveSliderJointSystem.cpp └── utils │ ├── DebugRenderer.cpp │ ├── DefaultLogger.cpp │ ├── Profiler.cpp │ └── quickhull │ ├── QHHalfEdgeStructure.cpp │ └── QuickHull.cpp ├── test ├── CMakeLists.txt ├── Test.cpp ├── Test.h ├── TestSuite.cpp ├── TestSuite.h ├── main.cpp └── tests │ ├── collision │ ├── TestAABB.h │ ├── TestConvexMesh.h │ ├── TestDynamicAABBTree.h │ ├── TestHalfEdgeStructure.h │ ├── TestHeightField.h │ ├── TestPointInside.h │ ├── TestRaycast.h │ ├── TestTriangleMesh.h │ ├── TestTriangleVertexArray.h │ └── TestWorldQueries.h │ ├── containers │ ├── TestArray.h │ ├── TestDeque.h │ ├── TestMap.h │ ├── TestSet.h │ └── TestStack.h │ ├── engine │ └── TestRigidBody.h │ ├── mathematics │ ├── TestMathematicsFunctions.h │ ├── TestMatrix2x2.h │ ├── TestMatrix3x3.h │ ├── TestQuaternion.h │ ├── TestTransform.h │ ├── TestVector2.h │ └── TestVector3.h │ └── utils │ └── TestQuickHull.h └── testbed ├── CMakeLists.txt ├── VisualStudioUserTemplate.user ├── common ├── AABB.cpp ├── AABB.h ├── Box.cpp ├── Box.h ├── Capsule.cpp ├── Capsule.h ├── ConcaveMesh.cpp ├── ConcaveMesh.h ├── ConvexHull.cpp ├── ConvexHull.h ├── ConvexMesh.cpp ├── ConvexMesh.h ├── Dumbbell.cpp ├── Dumbbell.h ├── HeightField.cpp ├── HeightField.h ├── Line.cpp ├── Line.h ├── PerlinNoise.cpp ├── PerlinNoise.h ├── PhysicsObject.cpp ├── PhysicsObject.h ├── Sphere.cpp ├── Sphere.h ├── VisualContactPoint.cpp └── VisualContactPoint.h ├── meshes ├── capsule.obj ├── castle.obj ├── concavemesh.obj ├── cone.obj ├── convexmesh.obj ├── cow.obj ├── cube.obj ├── cylinder.obj ├── dumbbell.obj ├── pile.obj └── sphere.obj ├── opengl-framework └── src │ ├── Camera.cpp │ ├── Camera.h │ ├── FrameBufferObject.cpp │ ├── FrameBufferObject.h │ ├── Light.cpp │ ├── Light.h │ ├── Mesh.cpp │ ├── Mesh.h │ ├── MeshReaderWriter.cpp │ ├── MeshReaderWriter.h │ ├── Object3D.cpp │ ├── Object3D.h │ ├── Shader.cpp │ ├── Shader.h │ ├── Texture2D.cpp │ ├── Texture2D.h │ ├── TextureReaderWriter.cpp │ ├── TextureReaderWriter.h │ ├── VertexArrayObject.cpp │ ├── VertexArrayObject.h │ ├── VertexBufferObject.cpp │ ├── VertexBufferObject.h │ ├── definitions.h │ ├── maths │ ├── Color.h │ ├── Matrix3.h │ ├── Matrix4.h │ ├── Vector2.h │ ├── Vector3.h │ └── Vector4.h │ └── openglframework.h ├── scenes ├── ballandsocketjoint │ ├── BallAndSocketJointScene.cpp │ └── BallAndSocketJointScene.h ├── ballandsocketjointschain │ ├── BallAndSocketJointsChainScene.cpp │ └── BallAndSocketJointsChainScene.h ├── ballandsocketjointsnet │ ├── BallAndSocketJointsNetScene.cpp │ └── BallAndSocketJointsNetScene.h ├── boxtower │ ├── BoxTowerScene.cpp │ └── BoxTowerScene.h ├── bridge │ ├── BridgeScene.cpp │ └── BridgeScene.h ├── collisiondetection │ ├── CollisionDetectionScene.cpp │ └── CollisionDetectionScene.h ├── collisionshapes │ ├── CollisionShapesScene.cpp │ └── CollisionShapesScene.h ├── concavemesh │ ├── ConcaveMeshScene.cpp │ └── ConcaveMeshScene.h ├── cubes │ ├── CubesScene.cpp │ └── CubesScene.h ├── cubestack │ ├── CubeStackScene.cpp │ └── CubeStackScene.h ├── fixedjoint │ ├── FixedJointScene.cpp │ └── FixedJointScene.h ├── heightfield │ ├── HeightFieldScene.cpp │ └── HeightFieldScene.h ├── hingejoint │ ├── HingeJointScene.cpp │ └── HingeJointScene.h ├── hingejointschain │ ├── HingeJointsChainScene.cpp │ └── HingeJointsChainScene.h ├── joints │ ├── JointsScene.cpp │ └── JointsScene.h ├── pile │ ├── PileScene.cpp │ └── PileScene.h ├── ragdoll │ ├── RagdollScene.cpp │ └── RagdollScene.h ├── raycast │ ├── RaycastScene.cpp │ └── RaycastScene.h ├── rope │ ├── RopeScene.cpp │ └── RopeScene.h └── sliderjoint │ ├── SliderJointScene.cpp │ └── SliderJointScene.h ├── shaders ├── color.frag ├── color.vert ├── depth.frag ├── depth.vert ├── phong.frag ├── phong.vert ├── quad.frag └── quad.vert └── src ├── Gui.cpp ├── Gui.h ├── Main.cpp ├── Scene.cpp ├── Scene.h ├── SceneDemo.cpp ├── SceneDemo.h ├── TestbedApplication.cpp 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