physics::forces Namespace Reference

Functions
void	applyImpulse (Registry &registry, entt::entity entity, glm::vec3 impulse) noexcept
	Apply an instantaneous impulse (units: kg·m/s) at the entity's centre-of-mass.
void	applyForce (Registry &registry, entt::entity entity, glm::vec3 force) noexcept
	Apply a continuous force (units: kg·m/s²) at the entity's centre.
void	applyImpulseAtPoint (Registry &registry, entt::entity entity, glm::vec3 impulse, glm::vec3 worldPoint) noexcept
	Apply an off-centre impulse.
void	applyForceAtPoint (Registry &registry, entt::entity entity, glm::vec3 force, glm::vec3 worldPoint) noexcept
	Apply an off-centre continuous force.
void	applyTorque (Registry &registry, entt::entity entity, glm::vec3 torque) noexcept
	Apply a torque (Phase 7). No-op for entities without a RigidBody.
void	integrateAccumulators (Registry &registry, float dt) noexcept
	Drain every entity's force / impulse accumulators into its velocity (and, in Phase 7, angular velocity).

Function Documentation

applyForce()

void physics::forces::applyForce ( Registry & registry, entt::entity entity, glm::vec3 force )

noexcept

Apply a continuous force (units: kg·m/s²) at the entity's centre.

Integrated as velocity += F * dt * invMass.

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applyForceAtPoint()

void physics::forces::applyForceAtPoint ( Registry & registry, entt::entity entity, glm::vec3 force, glm::vec3 worldPoint )

noexcept

Apply an off-centre continuous force.

Same semantics as applyImpulseAtPoint but as a force, integrated by dt.

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applyImpulse()

void physics::forces::applyImpulse ( Registry & registry, entt::entity entity, glm::vec3 impulse )

noexcept

Apply an instantaneous impulse (units: kg·m/s) at the entity's centre-of-mass.

No torque component.

If the entity has RigidBody, the impulse accumulates into impulseAccum and is integrated as velocity += J * invMass at tick start. Otherwise, falls back to velocity += impulse directly.

Thread-safe iff the same entity is not modified from multiple threads in the same tick.

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applyImpulseAtPoint()

void physics::forces::applyImpulseAtPoint ( Registry & registry, entt::entity entity, glm::vec3 impulse, glm::vec3 worldPoint )

noexcept

Apply an off-centre impulse.

The linear component changes velocity; the angular component (lever arm × J) changes angularVelocity. Linear-only fallback for entities without a RigidBody (no rotation yet).

Parameters

worldPoint

World-space point where the impulse is applied.

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applyTorque()

void physics::forces::applyTorque ( Registry & registry, entt::entity entity, glm::vec3 torque )

noexcept

Apply a torque (Phase 7). No-op for entities without a RigidBody.

integrateAccumulators()

void physics::forces::integrateAccumulators ( Registry & registry, float dt )

noexcept

Drain every entity's force / impulse accumulators into its velocity (and, in Phase 7, angular velocity).

Called once per physics tick from runMovement before the integration step.

Parameters

registry	ECS registry.
dt	Tick duration (seconds).

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