Modules Matali Physics Core

Advanced Rigid Body Simulation

Primitive shapes		Translation	Rotation	Us	NUs
	Sphere
	Hemisphere
	Cube
	Cuboid
	Cylinder
	Two radius cylinder (Tapered cylinder, Truncated cone)
	Cone
	Pyramid
	Capsule
	Two radius capsule (Tapered capsule)
	Tetrahedron
	Convex hull
	Convex triangle mesh
	Non-convex triangle mesh
	Heightmap
	Fluid
	Triangle
	Point
	Segment
	Plain

Us - Uniform scaling
NUs - Non-uniform scaling

	Rigid body dynamics with effective automatic activity management, control for linear and angular velocity, linear and angular damping, and other parameters
	Fully multithreaded simulation, stable and robust, highly optimized solver
	Extensive mass properties, local and global gravity, forces
	Movable action and force fields with ranges defined by any primitive shapes
	Movable parametric action fields
	A rich set of primitive shapes on which operations of Minkowski sum and construction of convex hull are available, creating further unique shapes
	Operations on arbitrary sets of triangles through the triangle mesh controllers
	Real-time deformable triangle meshes
	Real-time deformable large-scale heightmaps
	Movable animated large-scale fluid surfaces with volumes
	Movable fluid volumes
	Heightmaps with holes and with non-rectangular shaped terrain
	Multiple heightmaps and fluid surfaces on a single physics scene
	Built-in functions to transform non-convex triangle meshes into a set of convex objects (physics objects and/or shapes and/or primitive shapes)
	Materials defining values of static and dynamic friction, restitution, determining appearance and destruction of physics objects
	Real-time changeable value of friction and restitution for every heightmap point
	Fully interpolated values of height, friction and restitution for heightmap
	Groups of physics objects with advanced modeling of destruction process. Each rigid body group can be breakable and the group destruction process is fully modeled by physics scene developers
	Programmable fall apart of physics object groups
	Real-time resizable physics objects, group of physics objects, and group of physics objects with constraints with correct, automatic recalculation physical parameters and constraints
	Kinematic objects controlled by animation system
	Scalable buoyancy of physics objects
	State control of physics objects
	Movement control of physics objects

Advanced Collision Detection And Collision Filtering

	Continuous collision detection (CCD) between all primitive shapes and shapes derived therefrom
	Contact reporting
	Impact factors
	Rigid body collisions allocation on different collision groups (maximum 64)
	Trigger shapes

Unified Constraints

	One natural constraint
	Distance limits for X, Y and Z axes
	Angle limits for X, Y and Z axes (defined as Euler angles or quaternions)
	Advanced control for distance and angle limits
	Working in normal, spring or deformation mode
	Parameters determining indestructibility of constraint

Built-In APIs: Ray Casting, Volume Query

	Ray-surface intersection tests for all primitive shapes
	Volume queries specified as a transformed "fat" segment
	Volume queries specified as a transformed box
	Volume queries specified as a transformed sphere

Advanced Management Of Multiple Physics Scenes And Physics Objects

	Fully dynamic physics scenes constructed as sets of physics objects and groups of physics objects
	Managers: physics objects and physics scenes
	Physics objects with constraints and groups of physics objects with constraints can be during initialization rotated, moved and scaled
	Concurrent sequential processing of multiple physics scenes
	Physics objects lifetime maintenance through the counters of frames
	Full support for cameras (frustum, view matrix, projection matrix)
	Support for instancing
	Handling of transparent objects (including objects with variable transparency)
	Determining when and how objects are drawn

Physics-Based Animations And Physical AI

	Total control of constraints (distances and angles)
	Keyframes modeling based on constraints control
	Support for force-feedback
	All examples of physics-based animations provided with C++ source code
	All examples of physical AI provided with C++ source code

Rigid Particles Simulation

	Generic particle system
	Particle dynamics
	Particle flow interaction
	Advanced particles management
	Collision handling and filtering
	Inter-particle interactions
	Lifetime and other parameters maintenance

Vehicles Simulation

Physics-Driven Sound
- Full support for selected motion characteristics of object
  Sounds ranges defined by any primitive shapes
Physics-Driven Music
- Support for changing music synthesis parameters depending on physics simulation parameters and vice versa
  Support for synchronizing physics simulations with music synthesis

	Simulation of real and imagined vehicles
	Steering through the controllers and/or switches and/or ray casting and/or volume queries
	Vehicles created as groups of physics objects connected constraints
	All examples of vehicles provided with C++ source code

	Full support for selected motion characteristics of object
	Sounds ranges defined by any primitive shapes

	Support for changing music synthesis parameters depending on physics simulation parameters and vice versa
	Support for synchronizing physics simulations with music synthesis

Advanced Controllers

Internal controllers	Description
	Cursor controller	Provides functions to handle cursor
	Screen to ray controller	Provides functions to throw the ray in 3D space for given screen coordinates
	Fluid surface controller	Provides functions to create sinusoidal or cosinusoidal fluid surface perturbation in real-time
	Heightmap controller	Provides functions to deform heightmap in real-time
	Triangle mesh controller	Provides functions to add triangles to arbitrary set of triangles and to modify triangles in the set in real-time
	Destruction controller	Provides functions to destroy groups of objects unconnected constraints
	Motion controller	Provides additional parameters to control the movement of object during collision

	A rich set of internal controllers
	Powerful mechanism of user controllers
	Scalable to your needs, full-featured character controllers
	Priorities determining the order of user controllers execution
	All examples of using internal controllers provided with C++ source code
	All examples of using user controllers provided with C++ source code
	All examples of using character controllers provided with C++ source code

Serialization And Deserialization

Debug Visualization
- Full support for user-defined debuggers
  Built-in mechanisms required for custom debugging

Serialized physics scene elements
	Simulation parameters
	Physics objects (with materials, cameras, controllers, fog sources, light and sound sources, contact points, etc)
	Shapes
	Primitive shapes
	Constraints
	Meshes

	Serialization of entire physics scenes to easily parsable XML data
	Deserialization of entire physics scenes from easily parsable XML data
	Serialization of entire physics scenes to a file, memory or stream
	Deserialization of entire physics scenes from a file, memory or stream
	Real-time snapshot creation. Such snapshots can be loaded and further processed from the point at which were taken
	Serialization in two modes: optimized or complete
	Serialization of user controllers through the programmable Archive class
	User data handling and automatic serialization/deserialization of such data

	Full support for user-defined debuggers
	Built-in mechanisms required for custom debugging

Multi-Platform

Supported platforms
	Android 10 (API level 29) and higher
	Android TV 10 (API level 29) and higher
	*BSD (mainly FreeBSD 12.2 and higher)
	iOS 15 and higher
	iPadOS 15 and higher
	Linux (distributions)
	macOS 12 Monterey and higher
	Steam Deck
	tvOS 15 and higher
	UWP Desktop
	UWP Xbox Series X/S
	Windows 11
	Windows 10

Platforms	Available as
	Steam Deck, UWP, Windows	Compiled static library (.lib)
	Android, Android TV, *BSD, iOS, iPadOS, Linux, macOS, Steam Deck, tvOS	Compiled static library (.a)

Supported types of activity
	Android Native Activity

Frequently asked questions

Can I create hinge-type constraints in the Matali Physics environment?
- Of course, Matali Physics Core offers natural constraint that can dynamically transform into any other ones. If needed, you can initialize the constraint parameters according to the hinge-type constraint and not change them later, or change following the events in the scene - all depending your needs.

Does Matali Physics Core support native, implicit cylinder shape?
- Yes. All supported shapes are listed in the "Primitive Shapes" table in the "Advanced Rigid Body Simulation" section of this webpage.

Can I change the size of one physics object without creating many identical shapes?
- Of course. Matali Physics Core provides full support for physics object scaling.

Can I dynamically change size of any physics object?
- Yes. You can change the scale of physics objects, groups of physics objects as well as groups of physics objects with constraints both during creation/initialization and in real-time during simulation. Matali Physics Core is probably the only real-time 3d physics engine that offers such ready-to-use functionality.

Does Matali Physics Core offer programmable collision events or similar functionality?
- Of course. In the group of user controllers, Matali Physics Core offers programmable controller from collision events.

How can I modify single triangles in non-convex triangle meshes?
- Such functionality is offered by the triangle mesh controller.

Can I build the entire physics scene as a fully dynamic and destructible?
- Yes. Matali Physics Core engine is the best solution for such scenes.

Can Matali Physics Core handle multiple physics scenes in one game scene?
- Of course, the examples are available in Matali Physics Game.

Can Matali Physics Core be integrated into my game engine?
- This is a very difficult question. Generally yes, it is possible, but will require, just like in case of any other physics engine, a lot of work on your side. If you want to create games immediately, a better approach is to rely on Matali Physics as a platform, port your own modules (and C++ codes) into it, and then create and publish games.

I used Matali Physics engine before when it was in C#. Can I use code I wrote in C# in the current version for C++?
- In most cases, after minor changes, the code related to the use of Matali Physics engine in C# can be ported directly to the current version in C++.