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GPUPhysics: Case study of ODE

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I have completed a quick case study of an existing physics engine (ODE). This gave me a better overview of how a physics system works. Up til now I knew how the details worked but not how they might work together in an engine. I got some things to think about now regarding how to make my GPU system more useful for more than just a dumb rigid body simulation (one of the main requirements for the project is the ability to communicate with other systems like AI and animation also running on the GPU*).

* The project is a part of an investigation of using hardware instancing to draw agents with physics, animations and simple AI (group movement and decision trees).
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