A rigid-body simulation application framework for scene graph system and its implementation

A scene graph is a collection of nodes in a graph or tree structure that arranges the logical and often spatial representation of a graphical scene. Inspired by the scene graph concept, the research on the rigid body dynamics modeling for general scene graph system is done. A real-time rigid body dynamics simulation framework for general scene graph system is put forward and realized in modules on top of open dynamics engine, which solves the simulation problems of rigid body in virtual environment based on Vega scene graph system.