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This physics engine uses volume based collision resolution rather than being constraint based. You basically calculate the area of the shape, then move the vertices via their normal vectors to their desired volume. The only thing needed here is vertex and line based collision, and its improved from the prior engine but not 100% reliable.

The math behind it is based off of this tutorial by Grant Kot, and I honestly don’t know why this is not a more popular method of doing soft body physics. It couples really well with verlet integration!