3D Physics Toolbox with Haptics Support

The main goal of this thesis is to create software which would allow a user to simulate and study physical processes in systems of mass particles, which follow laws of classical mechanics and can collide together. The simplicity and easiness of control was emphasized, which corresponds to support of haptic devices, which can be used both for influencing running simulation and creation of the scene. It is possible to change parameters in physical properties of objects and environment (like gravitation or air density) and also to visualize affecting forces and other properties. It allows the user to explore physical processes. This work uses knowledge from many fields - mass particle mechanics, numerical integration used for application of physical laws, algorithms for effective collision detection and haptic interaction and force rendering