Vkm::Engine::PhysicsBody Struct Reference

Per-tick dynamic state the solver reads and writes, by index. More...

#include <solver.h>

Public Attributes
glm::vec3	position = {0.0f, 0.0f, 0.0f}
	Body origin (entity world position)
glm::quat	rotation = {1.0f, 0.0f, 0.0f, 0.0f}
	World orientation, as gathered and then as integrated.
glm::mat3	invInertiaWorld = glm::mat3(0.0f)
	R * I_local^-1 * R^T for this tick.
float	invMass = 0.0f
	0 == not moved by this solve

Detailed Description

Per-tick dynamic state the solver reads and writes, by index.

Decoupled from the Scene. invMass == 0 marks a body this solve must not move (static, kinematic, asleep, or another end's): infinite mass to contacts, never pushed.

Member Data Documentation

rotation

glm::quat Vkm::Engine::PhysicsBody::rotation = {1.0f, 0.0f, 0.0f, 0.0f}

World orientation, as gathered and then as integrated.

Not the local Transform's, which for a parented body is in the parent's frame; the inverse inertia and joint lever arms are built from it.

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The documentation for this struct was generated from the following file:

• system/physics/solver/solver.h