The thesis presents the physics and mathematics necessary for the realizationudof the physics engine, suitable for use in real-time applications. In the developmentudprocess we have focused on computer games and therefore have takenudinto account the limitations and pitfalls that can arise in such a case. We start by presenting the purpose and use of physics engines and also mention already existing solutions. We get to know with particles without mass,udwhich enable us to realize ballistics, forces in general and springs, as a specialudtype of them. Then we confront the hard constraints such as collision detection,udresolving collisions in the case of collisions of bodies and their movementsudin such situations. This gives us a mass aggregate physics engine, which can beudfurther upgraded with rotations and thus create a physical engine with rigidudbodies. At theudend, we explain the implementation details of the constructed physics engineudand demonstrate it with an application.
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