physical motion simulation code .. Collisions are done with impu lses. Constraints are done with impulses. Rest ing contact is treated as a constraint. implemented by doing an inelastic collision. J oints are also done using constraints/impulse s.

jiggle-0.0.18
.............\glut32.dll
.............\jiggle.cfg
.............\jiggle.exe
.............\jiggle_box_stack.cfg
.............\jiggle_car.cfg
.............\jiggle_ragdoll.cfg
.............\jiggle_screensaver.cfg
.............\readme.txt
.............\run_box_stack.bat
.............\run_car.bat
.............\run_ragdoll.bat
.............\screensaver
.............\...........\ReadMe.txt
.............\...........\ssjiggle.cfg
.............\...........\ssjiggle.cpp
.............\...........\ssjiggle.dsp
.............\...........\ssjiggle.dsw
.............\...........\ssjiggle.opt
.............\...........\ssjiggle.plg
.............\...........\ssjiggle.scr
.............\src
.............\...\application.cpp
.............\...\application.hpp
.............\...\array_2d.hpp
.............\...\axes.cpp
.............\...\axes.hpp
.............\...\box.cpp
.............\...\box.hpp
.............\...\bumpy_simple_heightmap.cpp
.............\...\bumpy_simple_heightmap.hpp
.............\...\camera.cpp
.............\...\camera.hpp
.............\...\car.hpp
.............\...\car_ai.cpp
.............\...\car_ai.hpp
.............\...\collision_body.cpp
.............\...\collision_body.hpp
.............\...\collision_body_mesh.cpp
.............\...\collision_body_mesh.hpp
.............\...\collision_processor.hpp
.............\...\coll_detect.cpp
.............\...\coll_detect.hpp
.............\...\component_car.cpp
.............\...\component_car.hpp
.............\...\component_wheel.cpp
.............\...\component_wheel.hpp
.............\...\config_file.cpp
.............\...\config_file.hpp
.............\...\constraint.hpp
.............\...\constraint_body_body_max_distance.cpp
.............\...\constraint_body_body_max_distance.hpp
.............\...\constraint_body_body_point.cpp
.............\...\constraint_body_body_point.hpp
.............\...\constraint_fixed_point.cpp
.............\...\constraint_fixed_point.hpp
.............\...\cylinder.cpp
.............\...\cylinder.hpp
.............\...\distance.cpp
.............\...\distance.hpp
.............\...\ellipsoid.cpp
.............\...\ellipsoid.hpp
.............\...\flat_simple_heightmap.cpp
.............\...\flat_simple_heightmap.hpp
.............\...\graphics_heightmap.hpp
.............\...\grid3d.hpp
.............\...\hinge_joint.cpp
.............\...\hinge_joint.hpp
.............\...\intersection.cpp
.............\...\intersection.hpp
.............\...\jiggle.cpp
.............\...\jiggle.dsp
.............\...\jiggle.dsw
.............\...\jiggle.hpp
.............\...\jiggle.ncb
.............\...\jiggle.opt
.............\...\jiggle.plg
.............\...\jiggle.sln
.............\...\jiggle.vcproj
.............\...\joint.hpp
.............\...\log_trace.cpp
.............\...\log_trace.hpp
.............\...\main.cpp
.............\...\Makefile
.............\...\matrix_vector3.hpp
.............\...\matrix_vector3.inl
.............\...\misc.hpp
.............\...\my_assert.hpp
.............\...\my_glut.hpp
.............\...\object.hpp
.............\...\object_controller.cpp
.............\...\object_controller.hpp
.............\...\physics.cpp
.............\...\physics.hpp
.............\...\physics_controller.hpp
.............\...\precision.hpp
.............\...\ragdoll.cpp
.............\...\ragdoll.hpp
.............\...\ray_car.cpp
.............\...\ray_car.hpp

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