cse125g2/docs/RigidBody_8hpp_source.html

#pragma once


#include <cstdint>

#include <glm/mat3x3.hpp>

#include <glm/vec3.hpp>


struct RigidBody

{

    float invMass = 1.0f / 80.0f;


    glm::mat3 localInvInertia{0.0f};


    glm::mat3 invInertiaWorld{0.0f};


    glm::vec3 forceAccum{0.0f};


    glm::vec3 impulseAccum{0.0f};


    glm::vec3 torqueAccum{0.0f};


    glm::vec3 angImpulseAccum{0.0f};


    float linearDamping = 0.0f;


    float angularDamping = 0.05f;


    bool isAsleep = false;


    uint16_t sleepCounter = 0;

};


RigidBody
Dynamic-body state shared across the force, impulse, and (Phase 7+) constraint-solver paths.
Definition RigidBody.hpp:24

RigidBody::isAsleep
bool isAsleep
Sleep state (Phase 12). Sleeping bodies skip integration.
Definition RigidBody.hpp:63

RigidBody::invInertiaWorld
glm::mat3 invInertiaWorld
World-space inverse inertia tensor.
Definition RigidBody.hpp:40

RigidBody::invMass
float invMass
Inverse mass.
Definition RigidBody.hpp:28

RigidBody::torqueAccum
glm::vec3 torqueAccum
Continuous torque accumulator (Phase 7).
Definition RigidBody.hpp:50

RigidBody::angularDamping
float angularDamping
Per-frame angular damping factor (Phase 7).
Definition RigidBody.hpp:60

RigidBody::angImpulseAccum
glm::vec3 angImpulseAccum
Instantaneous angular-impulse accumulator (Phase 7).
Definition RigidBody.hpp:53

RigidBody::forceAccum
glm::vec3 forceAccum
Continuous force accumulator. Integrated as dv += F * dt * invMass.
Definition RigidBody.hpp:43

RigidBody::linearDamping
float linearDamping
Per-frame linear damping factor.
Definition RigidBody.hpp:57

RigidBody::localInvInertia
glm::mat3 localInvInertia
Local-space inverse inertia tensor.
Definition RigidBody.hpp:34

RigidBody::impulseAccum
glm::vec3 impulseAccum
Instantaneous impulse accumulator.
Definition RigidBody.hpp:47

RigidBody::sleepCounter
uint16_t sleepCounter
Frames since the body's energy dropped below the sleep threshold (Phase 12).
Definition RigidBody.hpp:67