PHI: Physics Application Programming Interface

In this paper, we propose to design an easy to use physics application programming interface (PHI) with support for pluggable physics library. The goal is to create physically realistic 3D graphics environments and integrate real-time physics simulation into games seamlessly with advanced features, such as interactive character simulation and vehicle dynamics. The actual implementation of the simulation was designed to be independent, interchangeable and separated from the user interface of the API. We demonstrate the utility of the middleware by simulating versatile vehicle dynamics and generating quality reactive human motions.