LEARN / PHYSICS ENGINE
A physics engine
of our own.
Robot simulation and game characters in EvoForge run on its own physics engine: written in Rust, in double precision, and built into the app — nothing to install, no engine licence to buy.
Rigid bodies and articulated robots.
Rigid bodies, colliders and joints share one world. Articulated bodies — a robot arm, a humanoid — live in the same world in generalised coordinates, and their links are solved in the same system as the contacts and joints they make. The solver uses substepped soft constraints; a two-point contact is solved as one block, friction is projected onto its Coulomb disk, and still islands go to sleep. A separate articulated simulator with an exact contact solve serves controllers that are judged on the motion they produce.
Deformable solids that tear.
Soft bodies are tetrahedral meshes of a stable Neo-Hookean material, stepped implicitly by Newton's method with a preconditioned conjugate-gradient solve. They carry friction, can tear, and collide with rigid bodies, with each other and with themselves, including fast-moving contact.
Geometry that holds up.
Underneath sits EvoForge's own collision layer: dynamic AABB trees for the broad phase, convex hulls and approximate convex decomposition, triangle meshes, height fields and voxels, contact manifolds that keep their impulses from step to step, and continuous collision detection so fast objects stop at first contact instead of tunnelling.
Measured against physics, not screenshots.
Friction, stacking, sliding and impact are checked against physical expectations in regression tests, and every deliberate departure from the reference designs it learns from has a test behind it. The engine powers the Embodied AI and Game Development modules.
Embodied AI, end to end
From a robot description through simulation and training to sim2real and the real robot.
Read10 / GAMESGame development with EvoForge
Godot, Unity and browser games, characters that move like people, and game AI trained with EvoForge.
Read01 / OVERVIEWWhat is EvoForge?
The one-paragraph answer, the editions, the platforms, and how it differs from other projects with the same name.
ReadSee it move a robot.
Windows and macOS. Bring your own model key or a local model.