iiD Physics


iiD is a 2D rigid body simulation library written entirely in portable C++ by Randy Gaul.

NOTE: iID is only available for DigiPen students to use within DigiPen projects.

iiD has a few interesting features that are quite desirable for DigiPen game projects:

  • LCP solver with Sequential Impulses
  • Highly stable, efficient, and deterministic results
  • Many types of joints for interesting rigid body interactions
  • Very simple to use API
  • Library is not thread-safe, but can easily be placed onto an isolated thread
  • Simple communication of events and collisions with callbacks
  • Islanding simulation and sleeping
  • Warm starting
  • Generic 2D polygon and sphere collision detection
  • Efficient data oriented implementation
  • Math is built-in

Obligatory Showing Off

I created a nice video of running the demo that comes packaged with the iiD library:

User Manual

Here is a nice user manual in PDF format:

Download (PDF, Unknown)


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