A lightweight 3D physics engine.

• Press E or Q to change demos
• Click or tap texts on the left to control

• Written in Haxe
• Exported as JavaScript (see bin/js/)
  • Public classes and methods are exposed through window.OIMO.
  • e.g. new OIMO.Vec3(1, 2, 3) to create an instance of Vec3 class.
• Exported as JavaScript (module) with TypeScript Declaration (see package.json and bin/js_modules)

• Rigid body with motion types
  • Dynamic
  • Static
  • Kinematic
• Fast collision detection with bounding volume hierarchy (BVH)
• Contacts with friction and restitution
• Collision geometries
  • Sphere
  • Box
  • Cylinder
  • Cone
  • Capsule
  • Convex hull
• Joints with springs, limits and motors
  • Spherical (a.k.a. ball and socket, point to point)
  • Revolute (a.k.a. hinge)
  • Cylindrical
  • Prismatic (a.k.a. slider)
  • Universal
  • Ragdoll (a.k.a. cone twist, character)
  • Generic (a.k.a. 6-DoF joint)
• Breakable joints
• Constraint solvers
  • Direct block MLCP solver
  • Projected Gauss-Seidel solver
• Sleepings with island splittings
• Rotation limits
• Collision event callbacks
• Collision filterings
• Collision queries
  • AABB query
  • Ray casting
  • Convex casting

Haxe 4.3.4 or later is required.

• Use build-js.hxml to compile for JavaScript library.
• Use build-js-demos.hxml to compile JavaScript demos.
• Use build-doc.hxml to generate API documentation. dox is required.
• Use build-js-ts.hxml to compile for JavaScript (modules) library with TypeScript declarations. Requires hxtsdgen library. Check comments in that file.

The MIT License

• Written in ActionScript 3.0
• Supports spheres and boxes as collision shapes
• Supports various joints (ball and socket, distance, hinge, prismatic, etc...)
• Fast and stable collision solver
• Available in old/ directory