solver.h

#pragma once
 
#include <vector>
 
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
 
#include "system/physics/collision/contact.h"
 
namespace Vkm::Engine {
 
struct JointConstraint;

struct PhysicsBody {
    glm::vec3 position = {0.0f, 0.0f, 0.0f};  

    glm::quat rotation = {1.0f, 0.0f, 0.0f, 0.0f};
 
    glm::vec3 linearVelocity  = {0.0f, 0.0f, 0.0f};
    glm::vec3 angularVelocity = {0.0f, 0.0f, 0.0f};
 
    glm::mat3 invInertiaWorld = glm::mat3(0.0f);  
    float     invMass         = 0.0f;             
 
    float restitution = 0.2f;
    float friction    = 0.5f;
};

struct SolverParams {
    int   iterations = 0;     
    float dt         = 0.0f;  
};

void solveStep(
    std::vector<PhysicsBody>& bodies,
    std::vector<ContactManifold>& manifolds,
    std::vector<JointConstraint>& joints,
    const SolverParams& params
);
 
} // namespace Vkm::Engine