Typhoon

3D physics engine capable of simulating particles, rigid bodies, and their interactions. Based on the book "Game Physics Engine Development" by ian millington

Quickstart

Add Typhoon into your work directory

Import module and start working:

from Typhoon.Particle import Particle

FREQ = 1
particle = Particle()
particle.setPosition(0,0,0)
particle.setAcceleration(1,0,0)
particle.setMass(1)

particle.integrate(1/FREQ)
particle.integrate(1/FREQ)

print(particle)

$ python app.py
position: 1.0 0.0 0.0
velocity: 2.0 0.0 0.0
acceleration: 1 0 0
force: 0 0 0
damping: 1
mass: 1.0

Typhoon structure

.
├── Core
│   ├── Vector          
│   ├── Matrix3        
│   ├── Matrix4        
│   └── Quaternion    
├── Particle system
│   ├── Force generators
│   └── contacts    
├── Mass aggregate system
│   └── Links    
├── Rigid body system
│   ├── Force & toeque generators
│   ├── contacts
│   └── contact resolver    
└── ...

Demos (used vpython for rendering)

pip install vpython==7.6.1

The demos folder include several demos of what typhoon is capable of.

ballistics

class BallisticsDemo:

    def __init__(self):
        self.particle = Particle()
        self.type = BallisticsDemo.ShotType.UNUSED
        self.startTime = None
        self.particle.setPosition(0,1,0)

    def update(self):
        while True:
            rate(FREQ)
            for shot in self.ammo:
                if shot.type != self.ShotType.UNUSED:
                    shot.render()
                    shot.particle.integrate(1/FREQ)

Sailboat

This demo shows how to setup the rigid body simulation

class SailBoatDemo:
    def __init__(self):
        self.sailBoat = RigidBody()

        #Set body properties
        self.sailBoat.setPosition(0, 1.5, 0)
        self.sailBoat.setOrientation(1,0,0,0)
        self.sailBoat.setVelocity(0,0,0)
        self.sailBoat.setRotation(0,0,0)

        self.sailBoat.setMass(200.0)
        it = Matrix3()
        it.setBlockInertiaTensor(Vector(2,1,1), 100)
        self.sailBoat.setInertiaTensor(it)
        self.sailBoat.setDamping(0.8, 0.4)
        self.sailBoat.setAcceleration(0.3,-9.81,0)

        self.sailBoat.calculateDerivedData()

        self.sailBoat.setAwake()
        self.sailBoat.setCanSleep(False)

        #Forces acting in environment
        self.buoyancyForceFront = Buoyancy(self.sailBoat.boat.position+Vector(-0.51,0,0),0.6,2,1.6)
        self.buoyancyForceBack = Buoyancy(self.sailBoat.boat.position+Vector(0.5,0,0),0.6,2,1.6)
        self.windSpeed = Vector()
        self.aeroForce = Aero(Matrix3(0,0,0, 0,0,0, -1,0, -1), Vector(2, 0, 0), self.windSpeed)
        
        #Add forces to force registery
        self.forceRegistry = ForceRegistry()
        self.forceRegistry.add(self.sailBoat.boat, self.aeroForce)
        self.forceRegistry.add(self.sailBoat.boat, self.buoyancyForceBack)
        self.forceRegistry.add(self.sailBoat.boat, self.buoyancyForceFront)

and what is being updated every timestep

def update(self,duration):
        #Clear accumlators so zero forces and torque
        self.sailBoat.boat.clearAccumulators();

        #Add forces to body.
        self.forceRegistry.updateForces(duration);

        #Update the boat's physics.
        self.sailBoat.boat.integrate(duration);

        #Change the wind speed.
        self.windSpeed = self.windSpeed * 0.9 + Vector(uniform(0,100), 0,uniform(0,100))


    def run(self):
        while(True):
            rate(self.FREQ)
            self.display()
            self.update(1/self.FREQ)

Other demos

Firework	Bridge

Drone	Ragdoll