Solver.hpp

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#pragma once
 
#include "ecs/physics/ContactCache.hpp"
#include "ecs/registry/Registry.hpp"
 
#include <cstdint>
 
namespace physics
{
 
struct SolverConfig
{
    int positionIterations = 3;        
    int velocityIterations = 8;        
    float baumgarteScale = 0.2f;       
    float linearSlop = 0.005f;         
    float maxLinearCorrection = 0.2f;  
    float defaultFriction = 0.7f;      
    float defaultRestitution = 0.0f;   
    float velThreshForRestitution = 1.0f; 
};

void solveContacts(Registry& registry, ContactCache& cache, const SolverConfig& cfg, float dt);
 
} // namespace physics