Game Physics Pearls (Hardcover)

GAME PHYSICS 101
Mathematical Background
Introduction
Vectors and Points
Lines and Planes
Matrices and Transformations
Quaternions
Rigid-Body Dynamics
Numerical Integration
Further Reading

Understanding Game Physics Artifacts
Introduction
Discretizalion and Linearization
Time Stepping and the Well of Despair
The Curse of Rotations
Solver
Collision Detection
Joints
Direct Animation
Artifact Reference

COLLISION DETECTION
Broad Phase and Constraint Optimization for PlayStation 3
Introduction
Overview of CellBE
Optimization of the Broad Phase
Optimization of the Constraint Solver
Conclusion

SAT in Narrow Phase and Contact-Manifold Generation
Introduction
Contact Manifold
Physics Engine Pipeline
SAT Basics
Intuitive Gauss Map
Computing Full Contact Manifolds
SAT Optimizations

Smooth Mesh Contacts with GJK
Introduction
Configuration Space
Support Mappings
Overview of GJK
Johnson’s Algorithm
Continuous Collision Detection
Contacts
Conclusion

PARTICLES
Optimized SPH
Introduction
The SPH Equations
An Algorithm for SPH Simulation
The Choice of Data Structure
Collapsing the SPH Algorithm
Stability and Behavior
Performance
Conclusion
Appendix: Scaling the Pressure Force

Parallelizing Particle-Based Simulation on Multiple Processors
Introduction
Dividing Computation
Data Management without Duplication
Choosing an Acceleration Structure
Data Transfer Using Grids
Results
Conclusion

CONSTRAINT SOLVING
Ropes as Constraints
Introduction
Free-Hanging Ropes
Strained Ropes

Quaternion-Based Constraints
Introduction
Notation and Definitions
The Problem
Constraint Definitions
Matrix-Based Quaternion Algebra
A New Tale on Quaternion-Based Constraints
Why It Works
More General Frames
Limits and Drivers
Examples
Conclusion

SOFT BODY
Soft Bodies Using Finite Elements
Introduction
Continuum Mechanics
Linear FEM
Solving the Linear System
Surface-Mesh Update

Particle-Based Simulation Using Verlet Integration
Introduction
Techniques for Numerical Integration
Using Relaxation to Solve Systems of Equations
Rigid Bodies
Articulated Bodies
Miscellaneous
Conclusion

Keep Yer Shirt On
Introduction
Stable Real-Time Cloth
Modeling Real Fabrics
Performance
Order of Cloth Update Stages
Conclusion, Results, and Future

SKINNING
Layered Skin Simulation
Introduction
Layered Deformation Architecture
Smooth Skinning
Anatomical Collisions
Relaxalion
Jiggle
Conclusion

Dynamic Secondary Skin Deformations
Introduction
The Interaction Model
Neighborhood Interaction
Volumetric Effects
Final Remarks

Index

A Bibliography appears at the end of each chapter.