Dynamics state for a physics body: motion, material response and mass. More...

#include <rigidbody.h>

Static Public Member Functions
static void	wake (Rigidbody &rb)
	Wake a sleeping body so the next tick moves it.

Public Attributes
glm::vec3	linearVelocity = {0.0f, 0.0f, 0.0f}
	World-space velocity (m/s)
glm::vec3	angularVelocity = {0.0f, 0.0f, 0.0f}
	World-space spin (rad/s, axis * speed)
RigidbodyMotion	motion = RigidbodyMotion::Dynamic
	How the solver moves it.
float	mass = 1.0f
float	linearDamping = 0.01f
	Per-second velocity bleed (drag)
float	angularDamping = 0.05f
	Per-second spin bleed.
float	restitution = 0.2f
	Bounciness [0,1].
float	friction = 0.5f
	Coulomb coefficient [0,1+].
float	gravityScale = 1.0f
	Multiplier on world gravity (0 = floats)
int	layer = 1
	Which group this body belongs to, as a single bit; paired with collidesWith.
int	collidesWith = ~0
	Which layers this body collides with, as a mask of their bits.
bool	freezeRotation = false
	Contacts never torque the body (character controllers)
bool	canSleep = true
	False keeps a script-driven body responsive.
bool	sleeping = false
	Rested long enough; skipped until disturbed.
float	sleepTimer = 0.0f
	Runtime-only: seconds spent resting.
glm::vec3	supportNormal = {0.0f, 1.0f, 0.0f}
	Whether a resolved contact reached this body last tick, and the most upward normal among them.
glm::vec3	blockNormal = {0.0f, 1.0f, 0.0f}
	The most horizontal normal among the same contacts: what blocks this body.

Detailed Description

Dynamics state for a physics body: motion, material response and mass.

PhysicsSystem integrates it each fixed tick and writes the pose back to the Transform. Derived mass properties are re-derived each tick from mass and Collider into a BodyFrame, so edits need no "apply". A parented body's pose is resolved by walking its Transform chain, and writeback converts the solved pose back into the parent's frame.

Member Function Documentation

◆ wake()

void Vkm::Engine::Rigidbody::wake ( Rigidbody & rb )

inlinestatic

Wake a sleeping body so the next tick moves it.

Clears the timer too: a cleared flag with a long rest on the timer falls asleep again that tick.

Parameters

rb	Body to wake.

Member Data Documentation

◆ motion

RigidbodyMotion Vkm::Engine::Rigidbody::motion = RigidbodyMotion::Dynamic

How the solver moves it.

Kinematic ignores forces and impulses; its velocities are not integrated but still reach a contact - a platform pushes what stands on it - so a body that stops being driven should zero them. A bone an inactive Ragdoll poses moves as Kinematic whatever this says (isPosedByAnimation).

◆ mass

float Vkm::Engine::Rigidbody::mass = 1.0f

Kilograms, read only when Dynamic. Must be positive: PhysicsSystem reports one that is not and holds it still.

◆ layer

int Vkm::Engine::Rigidbody::layer = 1

Which group this body belongs to, as a single bit; paired with collidesWith.

0 collides with nothing, which switches collision off without disabling the collider that draws it.

◆ collidesWith

int Vkm::Engine::Rigidbody::collidesWith = ~0

Which layers this body collides with, as a mask of their bits.

A pair collides only if each body's layer is in the other's mask.

◆ supportNormal

glm::vec3 Vkm::Engine::Rigidbody::supportNormal = {0.0f, 1.0f, 0.0f}

Whether a resolved contact reached this body last tick, and the most upward normal among them.

Written by PhysicsSystem::writeback, never read by it; triggers never count. Most upward is the largest +Y component. The normal is as the surface acts on THIS body, so a contact's two bodies see opposite normals.

◆ blockNormal

glm::vec3 Vkm::Engine::Rigidbody::blockNormal = {0.0f, 1.0f, 0.0f}

The most horizontal normal among the same contacts: what blocks this body.

Valid only while supported. A body touching only level floor leaves it at world up.

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

ecs/component/physics/rigidbody.h

Static Public Member Functions

Public Attributes