Box3D

Box3D is an open-source 3D physics engine developed by Erin Catto for games and interactive simulations. Written in portable C17, it provides rigid body dynamics and accurate collision detection in three-dimensional environments. The engine supports convex hulls, spheres, capsules, triangle meshes, and height fields. Continuous collision detection helps prevent fast-moving objects from passing through other bodies. Its Soft Step solver simulates physical constraints, friction, springs, motors, and multiple joint types. Multithreading and SIMD optimizations improve performance when simulating large collections of objects. The software includes sensors, character movement, spatial queries, and contact events. Sample applications demonstrate rendering through Direct3D 11, Metal, and OpenGL on supported platforms.