Joints.cpp File Reference

Implementation of joint constraint solving (Phase 11). More...

#include "ecs/physics/Joints.hpp"
#include "ecs/components/Orientation.hpp"
#include "ecs/components/Position.hpp"
#include "ecs/components/RigidBody.hpp"
#include "ecs/components/Velocity.hpp"
#include "ecs/physics/Solver.hpp"
#include <algorithm>
#include <cmath>
#include <glm/geometric.hpp>
#include <glm/mat3x3.hpp>
#include <vector>

Include dependency graph for Joints.cpp:

Namespaces
namespace	physics
	Pure physics math — no ECS types, no registry.

Functions
void	physics::solveJoints (Registry &registry, const SolverConfig &cfg, float dt)
	Solve every joint in the registry using sequential impulses.

Detailed Description

Implementation of joint constraint solving (Phase 11).

Implements PointJoint (ball / spherical) and HingeJoint (1-DOF rotational) — sufficient for ragdolls and hinged objects. ConeTwistJoint and Joint6DOF are stubbed for now; ragdoll setup uses point + hinge.