最終更新:2010-07-20 (火) 04:50:44 (3381d)  

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Physics Abstraction Layer

http://pal.sourceforge.net/

Features

PAL supports a large number of physics engines. It provides a unique interface for:

Physics Engines

  • Box2D (experimental)
  • Bullet Physics Library
  • Dynamechs?(deprecated)
  • Havok (experimental)
  • IBDS? (experimental)
  • JigLib?
  • Meqon?(deprecated)
  • Newton
  • ODE
  • OpenTissue? (experimental)
  • PhysX (a.k.a Novodex, Ageia PhysX, nVidia PhysX)
  • Simple Physics Engine? (experimental)
  • Tokamak?
  • TrueAxis?

File Formats

Collision subsystem

Solver subsystem (Multithreaded / Hardware acceleration)

Bodies (Static and Dynamic)

  • Box
  • Capsule
  • Compound Bodies
  • Convex
  • Sphere

Geometries

  • Box
  • Capsule
  • Convex Mesh
  • Concave Mesh (Terrain)
  • Height field (Terrain)
  • Plane (Terrain)
  • Sphere

Links

  • Spherical (Ball and Socket) Link
  • Revolute (Hinge) Link
  • Prismatic (Slider) Link
  • Generic 6DOF Link

Sensors

  • Contact
  • Compass (Angular position)
  • GPS (Global Positioning System - Position)
  • Gyroscope (Angular velocity)
  • Inclinometer (Angular position)
  • PSD (Position Sensitive Device - Ray casting)
  • Sonar (Ray casting)
  • Velocimeter (Linear velocity)
  • Transponder (Distance between two objects)

Actuators

  • Force actuator (Generic)
  • DC Motor
  • Servo Motor
  • Hydrofoil
  • Propeller
  • Spring

Fluids

  • Particle Fluids (SPH)
  • Grid-Based Fluids (Dampened Shallow Wave)
  • Buoyancy Force
  • Drag & Lift Forces

Vehicles