Rigid body simulation

The object of this work is to create an easily extendible rigid body simulation engine. The engine will contain real-time collision detection and rea- listic collision handling. It will be able to simulate common nature forces such as gravity, related different types of friction and resting forces. The simulation engine will mainly focus on spheres and their movement influenced by the forces mentioned before. The part of this work will be as well the examination of diffe- rent types of optimalization of such tasks as collision detection and use of parallel approach.