Game Physics Engine Development

by [美]Ian Millington 徐明亮，李强，宋伟

《游戏物理引擎开发》详细阐述了与游戏物理引擎相关的高效解决方案及相应的数据结构和算法，主要包括粒子数学、运动定律、粒子物理引擎、合力、弹力、硬约束条件、质体物理引擎、旋转操作的数学知识、刚体运算定律、刚体物理引擎、碰撞检测、生成碰撞、碰撞处理方案、静态接触和摩擦力、稳定性和优化问题、整合方案以及其他物理引擎等内容。此外，《游戏物理引擎开发》还提供了相应的算法、代码以及伪代码，以帮助读者进一步理解相关方案的实现过程。《游戏物理引擎开发》适合作为高等院校计算机及相关专业的教材和教学参考书，也可作为相关开发人员的自学教材和参考手册。第1章概述1.1游戏物理1.2物理引擎1.2.1物理引擎的优点1.2.2物理引擎的缺点1.3物理引擎的实现方案1.3.1对象类型1.3.2碰撞处理方案1.3.3冲量和作用力1.3.4构建内容1.4物理引擎中的数学1.4.1必备的数学知识1.4.2数学知识回顾1.4.3本书引入的数学概念1.5本书源代码1.6本书组织方式第1部分粒子物理第2章粒子数学2.1向量2.1.1左手空间和右手空间2.1.2向量和方向2.1.3标量和向量的乘法运算2.1.4向量的加法和减法运算2.1.5向量乘法2.1.6分量积2.1.7标量积2.1.8向量积2.1.9正交基向量2.2积分运算2.2.1微分学2.2.2积分运算2.3本章小结第3章运动定律3.1粒子3.2运动定律3.2.1牛顿第一定律3.2.2牛顿第二定律3.2.3力学方程3.2.4向粒子添加质量3.2.5动量和速度3.2.6重力3.3积分算式3.3.1更新方程3.3.2完整的积分算式3.4本章小结第4章粒子物理引擎4.1弹道轨迹4.1.1设置发射对象属性4.1.2实现方法4.2焰火效果4.2.1焰火数据4.2.2焰火效果规则集4.2.3实现方法4.3本章小结第2部分质量集合体物理第5章合力5.1d'alembert定理5.2作用力发生器5.2.1接口和多态5.2.2实现方法5.2.3重力发生器5.2.4阻力发生器5.3内建重力和阻尼机制5.4本章小结第6章弹力6.1胡克定律6.1.1弹力限制条件6.1.2弹性材质6.2弹力发生器6.2.1基础型弹力发生器6.2.2固定弹簧发生器6.2.3弹性橡皮筋6.2.4浮力发生器6.3硬质弹簧6.3.1硬质弹簧产生的问题6.3.2仿硬质弹簧6.4本章小结第7章硬约束条件7.1简单的碰撞解决方案7.1.1闭合速度7.1.2回弹系数7.1.3碰撞法向和碰撞法线7.1.4冲量7.2碰撞处理方案7.2.1碰撞检测7.2.2处理相交对象7.2.3静态碰撞7.3碰撞处理算法7.3.1处理顺序7.3.2时分引擎7.4类碰撞材质7.4.1绳索7.4.2连杆7.5本章小结第8章质体物理引擎8.1引擎概述8.2使用物理引擎8.2.1索桥和线缆8.2.2摩擦力8.2.3blob游戏8.3本章小结第3部分刚体物理系统第9章旋转操作的数学知识

Genres: Programming, Computer Science, Physics, Technology, Technical, Textbooks, Algorithms

Paperback

First published March 7, 2007

Reviews

[Alb85 · Rating 3 out of 5]

Interessante manuale su come implementare un simulatore fisico (Physics Engine).

La parte di matematica e fisica è spiegata in modo chiaro e completo. Si parla di vettori, di matrici, di integrali, delle leggi di Newton, ecc.

Prima l'autore spiega come gestire un sistema di particelle, cioè oggetti senza massa e senza direzionalità. Parla di forze (tra cui la forza di gravità e le forze elastiche) che agiscono sull'accelerazione, e di impulsi (quando ad esempio avviene una collisione tra oggetti) che agiscono sulla velocità.
Poi introduce il complesso argomento dell'identificazione delle collisioni e di come risolverle.
Parla poi di rotazione introducendo il centro di massa e le operazioni con le matrici e con i quaternioni.

Il tutto si complica quando si introducono i corpi rigidi che si portano dietro l'aspetto della rotazione e del momento.

In fine gran parte del libro parla delle tecniche di identificazione delle collisioni e di generazione dei contatti.
Ammetto di aver saltato la parte di risoluzione delle collisioni, decisamente troppo complicata.

[Qwiff · Rating 4 out of 5]

I learned more about 3D math from this book than any other resource. The section on quaternions is particularly excellent and the only explanation on the subject that made sense to me.

As another review pointed out, this book is really a giant tutorial. Following along and developing my own codebase was enjoyable and rewarding in and of itself. While I did end up replacing the physics engine with Bullet, the whole process taught me more about game physics than I imagine any other resource could.

[Gashtasb Mozaffarian · Rating 5 out of 5]

این کتاب رو به همه اون‌هایی که به شبیه سازی فیزیک (چه در بازی‌ها چه برای شبیه سازی‌های واقعی) علاقه دارند، پیشنهاد میکنم.
همراه با مطالعه چند منبع دیگر و چند پیپر بروز، سطح اطلاعاتتون رو تا زیادی بالا میبره!

[Thomas Vantroyen · Rating 5 out of 5]

Basically a giant, thorough tutorial on the concepts and algorithms behind physicsengines. Well written and exactly what I was looking for.

[Bruno Gallego · Rating 4 out of 5]

The Physic Game Developer book is better, altghouth it requires better math background. Game Physics engine is better for programmers.

[Miguel Pérez Tarruella · Rating 5 out of 5]

Very nice book to start with the physics engine programming. It explains everything you need to know about physics and how they are considered in videogames.

[Danien · Rating 4 out of 5]

Good beginners' approach to what goes into a physics engine. Covers the mathematics behind the physics in a way that is very easy to comprehend as well as the basic architecture of a physics engine as it relates to a real time game engine.

By the end of the book, you get a basic kinematic physics engine (with rigid body, springs, collisions, but no advanced topics like cloth).

Even if you don't intend to write your own physics engine, this book is a good introduction for understanding what goes on behind the scenes and how to structure your physics interface.

[Andre · Rating 4 out of 5]

Kinda sped along some of the mathematics but the point is that in practice, different tradeoffs need to be made based on the physics and the degree of realism your game requires. Some sections seemed very vague (for example, the section on contact generation seemed extremely hand wavey but made sense), others felt extremely intuitive.

I suppose I should have read the source code while reading the book, but, oh well. //

[Tommy · Rating 4 out of 5]

A good introductory book on physics engine architecture. Most of the techniques presented apply to small-scale engines for simulating specific scenarios (for example, there is a section on creating a Loco Roco-like game).

[Ahmed Gamal · Rating 4 out of 5]

it's great but many times I couldn't find enough details to fully understand some topic. some would like this for fast and easy doing but consider using a more detailed book as a reference.

[Mohammad Shaker · Rating 4 out of 5]

A great book for builing one's own physics engine. Used it when I created CRUST: mohammadshaker.com/crust.html for a cut the rope clone, Ropossum: http://mohammadshaker.com/ropossum.html