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Bachelor-Praktikum: Game Physics - Summer 15

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SS 15
Univ.-Prof. Dr. Hans-Joachim Bungartz,
Oliver Meister,
Roland Wittmann
Time and Place
Pre-Session: Tuesday, January 20, 2015 at 2:00 pm in 02.07.23
Studenten der Informatik (Bachelor)
Semesterwochenstunden / ECTS Credits
6 SWS (6P) / 10 Credits
TUM Online Course

Course is held in German, the slides are in English.



A simple game physics engine is developed in this lab. Starting with simple time steps for moving rigid body objects you will successively extend your developments by collision detection, rotations, friction, etc. to obtain a game physics engine.


  • Introduction to game engines (Visualization, physics, scripting, ...)
  • Game-Physics (Force, momentum, torque, ...)
  • Game-Math (Numerical approximations, accuracy, time-steps, ...)
  • Modelling of springs, Ropes
  • Collision detection
  • Resolving of interpenetrations
  • Friction
  • ...


  • Preliminary knowledge in C++ is advantageous, but it's no prerequisite. However, you should have experiences in object-oriented programming - e.g. Java programming.
  • No prior knowledge about visualization is necessary: A framework for visualization, interactivity and the interface for the physics is given. Thus you'll only have to implement the physics part.
  • Also no prior knowledge about physics is necessary. We'll give a short introduction to physics.
  • The existing code base is designed to work with Linux + Eclipse. You are allowed to use Windows/Mac OS but we will not provide any support.


The class takes place every Friday 10:00-12:00 in room 02.07.023.

Number Topic Worksheet Presentation Slides Date
1 Warmup: Explicit Euler, Physics I, Falling Sphere Worksheet 1 (Deadline: 23.04., 12:00) Presentation 17.04.
2 Translations, Rotations, Collisions I, Resolving interpenetrations Worksheet 2 (Deadline: 07.05., 12:00) Presentation 24.04.
3 Springs/Ropes, Linear momentum, Quaternions Worksheet 3 (Deadline: 14.05., 12:00) Presentation 08.05.
4 Collisions: Sphere-box, plane-box Worksheet 4 (Deadline: 21.05., 12:00) Presentation 15.05.
5 Collisions: Box-box, separating axes Worksheet 5 (Deadline: 28.05., 12:00) Presentation 22.05.
6 Angular momentum, micro-collisions, damping Worksheet 6 (Deadline: 11.06., 12:00) Presentation 05.06.
7 Friction Worksheet 7 (Deadline: 18.6, 12:00) Presentation 12.06.


Most worksheets have to be completed within a week (except if stated otherwise) and must be submitted via mail. Create an archive called worksheet?.tar.gz (where ? is the worksheet number) and insert the complete code tree without object files or binaries. Send it to until Thursday 12:00 (noon).

Note: The submitted code will be graded only, if it compiles without errors. So please take care, that the code works and test it at least once before submission.


Frequently Asked Questions (FAQs)

If you have a question, first take a look at our FAQ Website: PSE Game Physics - Summer 15 - FAQs

Recommended Literature

  • Game Physics Engine Development, Ian Millington
  • Real-Time Collision Detection, Christer Ericson
  • Game Physics, David E. Eberly


The Engine Skeleton is available for download:

When compiling SBNDEngine, don't forget to install freeglut3-dev, libpng-dev and libjpeg-dev

SBND Engine

The following keysettings are preset by our engine. The keys which are for debugging should be the most important for you to hunt bugs ;-)

  • Default mode:
Key Function
[a] Go left
[s] Go back
[w] Go forward
[d] Go right
[g/G] activate/deactivate gravity
[space] Switch between '1st person mode' and 'free mouse mode'
[1]-[0], [F1]-[F12] Switch to other scene and reset
[r] Total reset
[e] Reset objects only
  • Debug mode:

You can use this mode to get some information about objects. An output is created for object which is currently under the mouse cursor.

Key Function
[backspace] Activate/Deactivate Debug mode
[mouse wheel up],[+] Go one timestep forward + record current state
[mouse wheel down],[-] Go one timestep back (restore recorded state)


  • Hanging Bridge simulated with ropes:

Hanging bridge.png

  • Falling objects (Cubes, Spheres):

Falling object.png

  • Many boxes:

Many boxes.png