Features

Important features:

Collision detection:
- The True Axis Physics SDK features swept collision testing to detect collision before they happen. This way, very vast moving objects and low frame rates are not a problem. This also reduces the number simulation steps necessary per second hence improving execution speed. Other physics packages only test for intersecting collisions. This is this library's main advantage over its competition.
- The True Axis Physics SDK provides the choice of a collision grid structure or an octree structure to quickly find which object pairs are potentially going to collide. Collision testing between thousands of objects is not a problem.
- The True Axis Physics SDK supports convex polygon objects, capsules, cylinders and spheres as collision primitives for moving objects. Large arbitrary meshes are supported for static scenery.

Rigid body simulation:
- The True Axis Physics SDK reliably handles stable stacking objects.
- The True Axis Physics SDK provides a flexible system for rigid articulated joints between objects.
- The True Axis Physics SDK handles rigid constraints. This combined with swept collision detection enforces non-penetration between objects.

General features:
- Optimisations for resting objects. They do not add significantly to the execution time of the simulation.
- Direct control over object velocities not a problem. (Some other physics libraries don't like this.)