Is there a physics engine white paper?

General
1

Godot Version

Godot 4.3

Question

I’ve been trying to learn more about how exactly the physics engine (2d & 3d) works under the hood, partly out of curiosity and partly because I want to see if I can hack a particular physics behavior into the engine. I can’t seem to find any resources that go over how the engine works besides how to use it. I was hoping for something like a white paper that goes over the governing equation, solver method used, constraints, collision calculation, etc.

2

GodotPhysics in 3D will be superseded by Jolt in the future, so it may be better to look into implementing your change in Jolt and using it with godot-jolt.

GodotPhysics will remain used in 2D for the foreseeable future, but there isn’t internal documentation for it. A lot of custom code was used and tweaked to provide features like one-way collision, so it’s harder to provide a 1:1 replacement using a third-party physics engine.

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