Solver.cpp File Reference

Sequential-Impulse (PGS) solver implementation. More...

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

Include dependency graph for Solver.cpp:

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

Functions
void	physics::solveContacts (Registry &registry, ContactCache &cache, const SolverConfig &cfg, float dt)
	Solve every cached contact manifold for the current tick.

Detailed Description

Sequential-Impulse (PGS) solver implementation.

Each iteration walks every contact point in stable (entityA, entityB, pointIndex) order so the result is deterministic regardless of the underlying hash-map insertion order.