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<H2> 6.7 csPhyziks Library (<CODE>csphyzik</CODE>) </H2>
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<P>
<EM>Written by Michael Alexander Ewert, <A HREF="mailto:michael_ewert@hotmail.com">michael_ewert@hotmail.com</A>.
Last updated 22 July 2000.</EM>
</P><P>
This library is a work in progress so many things will change (and probably
already have by the time you read this).
</P><P>
The Phyziks (`<TT>csphyzik</TT>') library is a dynamics modeling and simulation
engine. Focus is currently on rigid body dynamics. The core of the engine is
a numerical integrator that solves the equations of motion for given bodies.
Different types of bodies will have different equations of motion. A simple
example would be the equations of motion for the center of mass of a rigid
body.
</P><P>
These two equations together have a fancy name: <EM>Coupled Ordinary
Differential Equations</EM>.
</P><P>
<DL COMPACT>
<DT><CODE>dx/dt = v</CODE>
<DD>Change of the bodies position over time == the velocity of the body.
<DT><CODE>dv/dt = a</CODE>
<DD>Change in velocity == acceleration.
</DL>
<P>
This equation is used to bootstrap the solving of the above ODEs:
</P><P>
<DL COMPACT>
<DT><CODE>F = ma</CODE>
<DD>Force = mass * acceleration. So <CODE>a = F/m</CODE>. Plug into second ODE.
</DL>
<P>
You would add the body to the engine and any forces that act on it. When
you tell the engine to evolve the system, it will figure out the new value
for the state of your body. Then you would request the new position from
the engine via a pointer to your body. That value would be used to
update the position of the object that represents your body in the renderer.
</P><P>
<BLOCKQUOTE><TABLE BORDER=0 CELLSPACING=0>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_150.html#SEC327">6.7.1 Physical World</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_151.html#SEC328">6.7.2 Bodies</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_152.html#SEC329">6.7.3 Forces</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_153.html#SEC330">6.7.4 Articulated Bodies</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_154.html#SEC331">6.7.5 Impulses</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_155.html#SEC332">6.7.6 Solvers</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_156.html#SEC333">6.7.7 Catastrophes</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_157.html#SEC335">6.7.8 ODE Solvers</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
<TR><TD ALIGN="left" VALIGN="TOP"><A HREF="cs_158.html#SEC336">6.7.9 Usage Guide</A></TD><TD> </TD><TD ALIGN="left" VALIGN="TOP"></TD></TR>
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<A NAME="csPhyziks World"></A>
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