Game Physics

2nd Edition

Authors: David Eberly
Hardcover ISBN: 9780123749031
Imprint: Morgan Kaufmann
Published Date: 5th April 2010
Page Count: 944


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"Game Physics, 2nd Edition" provides clear descriptions of the mathematics and algorithms needed to create a powerful physics engine - while providing a solid reference for all of the math you will encounter anywhere in game development: quaternions, linear algebra, and calculus. Implementing physical simulations for real-time games is a complex task that requires a solid understanding of a wide range of concepts from the fields of mathematics and physics. Previously, the relevant information could only be gleaned through obscure research papers. Thanks to "Game Physics", all this information is now available in a single, easily accessible volume.

The new 2nd edition is the much-anticipated update that incorporates new info on how to implement a classic rigid-body physics engine, as well as new coverage of ragdoll physics, PLUS a new chapter on Physics Luminaries and their contributions (Ronald Fedkiw, Jos Stam, and James O'Brien).

The CD will contain Wild Magic 5, a large software package for graphics, physics, and related topics. Also, Eberly's associated web site will support the book and CD:

Key Features

--Much-anticipated 2nd edition offers valuable new applications of particle systems, fluids, and gases. --CD with Wild Magic physics engine, C++ source code that supports the simulations in the book, plus sample apps, and exercises. --Books tackles the complex, challenging issues that other books avoid - and provides a solid, comprehensive math resource for game developers.


Professionals or students working in game development, simulation, scientific visualization, or virtual worlds.

Game Physics Developers, Games Physics Engine Programmers, Game Programmers, Technical Directors.

Level: Intermediate to Advanced

Table of Contents

Game Physics 1st edition

1 A Brief History of the World: A Summary of the Topics 2 Basic Concepts 3 Rigid Body Motion 4 Deformable Bodies 5 Physics Engines 6 Physics and Shader Programs 7 Linear Complementarity and Mathematical Programming 8 Differential Equations 9 Numerical Methods 10 Quaternions Appendices A Linear Algebra B Affine Algebra C Calculus D Ordinary Difference Equations

A Summary of the Changes for the 2nd Edition:

Naturally, Chapter 1 (Introduction) will be rewritten based on the contents for the second edition.

The chapter on Physics Engines needs a significant rewrite. The goal will be to describe how to implement a classic rigid-body physics engine. And there will be source code to go with it, illustrating a generic collision detection system to go with the collision response people seem to associate with a physics engine. I will also include a new section on ragdoll physics, and there will be source code to go with this.

I plan on inserting a new chapter (chapter 6 below) that will contain descriptions of various papers of interest in game physics. In particular, I will review publications by Ronald Fedkiw, Jos Stam, and James O'Brien, choosing a few of each to describe and to implement in source code and include on the CDROM for the book. This new material fills the void in the 1st edition - not much discussion of applications of particle systems, fluids, or gases. The chapter on shader programs (old Chapter 6) will be discarded in its entirety.

Chapters 7 through 10 and Appendices A through D form the mathematical heart of the book. The appendices are effectively background m


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© Morgan Kaufmann 2010
Morgan Kaufmann
Hardcover ISBN:

About the Author

David Eberly

Dave Eberly is the president of Geometric Tools, Inc. (, a company that specializes in software development for computer graphics, image analysis, and numerical methods. Previously, he was the director of engineering at Numerical Design Ltd. (NDL), the company responsible for the real-time 3D game engine, NetImmerse. He also worked for NDL on Gamebryo, which was the next-generation engine after NetImmerse. His background includes a BA degree in mathematics from Bloomsburg University, MS and PhD degrees in mathematics from the University of Colorado at Boulder, and MS and PhD degrees in computer science from the University of North Carolina at ChapelHill. He is the author of 3D Game Engine Design, 2nd Edition (2006), 3D Game Engine Architecture (2005), Game Physics (2004), and coauthor with Philip Schneider of Geometric Tools for Computer Graphics (2003), all published by Morgan Kaufmann. As a mathematician, Dave did research in the mathematics of combustion, signal and image processing, and length-biased distributions in statistics. He was an associate professor at the University of Texas at San Antonio with an adjunct appointment in radiology at the U.T. Health Science Center at San Antonio. In 1991, he gave up his tenured position to re-train in computer science at the University of North Carolina. After graduating in 1994, he remained for one year as a research associate professor in computer science with a joint appointment in the Department of Neurosurgery, working in medical image analysis. His next stop was the SAS Institute, working for a year on SAS/Insight, a statistical graphics package. Finally, deciding that computer graphics and geometry were his real calling, Dave went to work for NDL (which is now Emergent Game Technologies), then to Magic Software, Inc., which later became Geometric Tools, Inc. Dave’s participation in the newsgroup

Affiliations and Expertise

President of Geometric Tools, Inc (, a company that specializes in software development for computer graphics, image analysis, and numerical methods. Previously, he was the Director of Engineering at Numerical Design Ltd (NDL), the company responsible for the real-time 3D game engine, Netlmmerse. His background includes a BA in Mathematics from Bloomsburg U, MS and PhD degrees in Mathematics from the U of Colorado at Boulder, and MS and PhD degrees in computer science from the U of North Carolina at Chapel Hill.


"I keep at most a dozen reference texts within easy reach of my workstation computer. This book will replace two of them."--Ian Ashdown, President, byHeart Consultants Limited "Dave has yet again produced a must-have book for game technology programmers everywhere." -Christer Ericson, Technology Lead, Sony Computer Entertainment "Game Physics is a comprehensive reference of physical simulation techniques relevant to games and also contains a clear presentation of the mathematical background concepts fundamental to most types of game programming. I wish I had this book years ago." -Naty Hoffman, Senior Software Engineer, Naughty Dog, Inc. "Eppur si muove . . . and yet it moves. From Galileo to game development, this book will surely become a standard reference for modeling movement." -Ian Ashdown, President, byHeart Consultants Limited "This book, especially when coupled with Dave's 3D Game Engine Design, provides the most complete resource of the mathematics relevant to modern 3D games that I can imagine." -Peter Lipson, Senior Programmer, Toys For Bob "This comprehensive introduction to the field of game physics will be invaluable to anyone interested in the increasingly more important aspect of video game production, namely, striving to achieve realism. Drawing from areas such as robotics, dynamic simulation, mathematical modeling, and control theory, this book succeeds in presenting the material in a concise and cohesive way. As a matter of fact, it can be recommended not only to video game professionals but also to students and practitioners of the above-mentioned disciplines." -Pål-Kristian Engstad, Senior Software Engineer, Naughty Dog, Inc. "Increases in processor power now make it feasible to run complex physical simulations in real time, which greatly increases their practical importance. Thus th