RagdollPbd.hpp

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#pragma once
 
#include "ecs/registry/Registry.hpp"
 
#include <cstdint>
#include <entt/entt.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/vec3.hpp>
 
namespace physics
{

struct RagdollPbdJoint
{
    enum class Kind : uint8_t
    {
        Point,    
        Hinge,    
        ConeTwist 
    };
 
    entt::entity bodyA{entt::null}; 
    entt::entity bodyB{entt::null}; 
 
    glm::vec3 localAnchorA{0.0f};   
    glm::vec3 localAnchorB{0.0f};   
 
    Kind kind = Kind::Point;

    glm::vec3 axisLocalA{1.0f, 0.0f, 0.0f};

    float swingLimit = 1.4f;

    float twistLimit = 0.8f;

    float hingeMin = -1.5f;
    float hingeMax = 0.05f;
};

void enforceRagdollConnectivity(Registry& registry, float dt, int iterations = 8);
 
} // namespace physics