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Custom physics for rigid body

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The context here is unreal engine 4 There is a character class inbuilt that possess basic character movement physics like walking , jumping , going up on an inclined surface etc etc. which is fulfilled in the engine by specialised movement code that is not ran on any physics engine but computed on CPU each frame on game thread. You can say it simulates some of the physics properties like velocities and acceleration calculating how much to move the character but its not a real physics simulation. I wonder if how feasible it is to extend this kind of system to support a free rigid body like object, say making a box tumble around but with custom code instead of something like PhysX or Bullet. Is it worth it or would I simply end up with something that engines like PhysX can already do?

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