Jitter Physics 2, the evolution of Jitter Physics, is an impulse-based dynamics engine with a semi-implicit Euler integrator. It is a fast, simple, and dependency-free engine written in C# with a clear and user-friendly API.

Jitter is cross-platform. The src directory contains four projects:

To run the demo scenes:

• Install .NET 7.0
• git clone https://github.com/notgiven688/jitterphysics2.git
• cd ./jitterphysics2/src/JitterDemo && dotnet run -c Release

JitterDemo uses GLFW for accessing OpenGL and managing windows, and cimgui for GUI rendering. The project contains these native binaries in a precompiled form. On Linux you may have to install GLFW, e.g. on Ubuntu sudo apt-get install libglfw3-dev.

• Speculative contacts (avoiding the bullet-through-paper problem).
• A variety of constraints and motors (AngularMotor, BallSocket, ConeLimit, DistanceLimit, FixedAngle, HingeAngle, LinearMotor, PointOnLine, PointOnPlane, TwistAngle) with support for softness.
• A sophisticated deactivation scheme with minimal cost for inactive rigid bodies (scenes with 100k inactive bodies are easily achievable).
• Edge collision filter for internal edges of triangle meshes.
• Substepping for improved constraint and contact stability.
• Generic convex-convex collision detection using EPA-aided MPR.
• "One-shot" contact manifolds using auxiliary contacts for flat surface collisions.
• Efficient compound shapes.
• Easy integration of custom shapes. Integrated: Box, Capsule, Cone, Convex Hull, Point Cloud, Sphere, Triangle, Transformed.

Find the documentation here.

• Develop and distribute NuGet packages and releases.
• Stabilize the engine and demo.
• Expand the documentation to cover more topics and functionalities.

Contributions of all forms are welcome! Feel free to fork the project and create a pull request.