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National Repository of Grey Literature

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Library for Rigid Body Dynamics Moravčík, Libor ; Janoušek, Vladimír (referee) ; Peringer, Petr (advisor) This thesis sums up a basic knowledge about rigid body simulations in two dimensional space of computer games.Practical result is a hands-on library written in C++. Collision geometry of rigid bodies is simplified to convex polygons and circles. Multiple bodies can be joined together via a joint. Collision detection is split in to two phases, broad and narrow. Broad phase is implemented using a dynamic aabb tree while narrow phase uses Gilbert-Johnost-Keerthi (GJK) algorithm with Expanding Polytope Algorithm as an extension for detecting collision points between two polygons. Detailed record

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