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ReactPhysics3D is a physics engine library with rigid body dynamics, discrete collision detection, and rich collision shapes that can be used in games and 3D simulations. Since it is a library, static bodies and headers need to be generated first, and the developers recommend using CMake for this purpose.

The program can be used in two ways, i.e. create objects and allow the application to simulate motion or move them manually so that you can test collisions between them. In other words, dynamic worlds are suitable for creating objects that move automatically through forces, joints, and collisions, while collision worlds allow you to perform these tests manually.

Colliders are essentially objects with their own position, orientation, and shape. To create an object, you need to calculate its transformation, i.e. initial position and orientation. A rigid body, on the other hand, is an object you want to simulate in the world, which has a mass, orientation, position, and up to multiple collision shapes.

To constrain the motion of rigid bodies and reduce the degrees of freedom between them, you can use joints. Some have motors that automatically move objects at a given speed, while others let you control the object’s range of motion.