Rigid body simulation system created using C++ and OpenGL. Interactive keyboard commands allow dynamic creation of spheres and cubes, or launching of balls into the scene as projectiles. Original scenes are read in from XML files. Uses a Sweep and Prune algorithm for broadphase collision detection with multiple optimizations. This implementation gave a 2.68 speedup over the Exhaustive Search method, and my algorithm was found to be the fastest out of a group of approximately 30 students.