RigidBody Struct Reference

Dynamic-body state shared across the force, impulse, and (Phase 7+) constraint-solver paths. More...

#include <RigidBody.hpp>

Public Attributes
float	invMass = 1.0f / 80.0f
	Inverse mass.
glm::mat3	localInvInertia {0.0f}
	Local-space inverse inertia tensor.
glm::mat3	invInertiaWorld {0.0f}
	World-space inverse inertia tensor.
glm::vec3	forceAccum {0.0f}
	Continuous force accumulator. Integrated as dv += F * dt * invMass.
glm::vec3	impulseAccum {0.0f}
	Instantaneous impulse accumulator.
glm::vec3	torqueAccum {0.0f}
	Continuous torque accumulator (Phase 7).
glm::vec3	angImpulseAccum {0.0f}
	Instantaneous angular-impulse accumulator (Phase 7).
float	linearDamping = 0.0f
	Per-frame linear damping factor.
float	angularDamping = 0.05f
	Per-frame angular damping factor (Phase 7).
bool	isAsleep = false
	Sleep state (Phase 12). Sleeping bodies skip integration.
uint16_t	sleepCounter = 0
	Frames since the body's energy dropped below the sleep threshold (Phase 12).

Detailed Description

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

Lifecycle. Accumulators (forceAccum, impulseAccum, torqueAccum, angImpulseAccum) are written by forces::apply* helpers throughout a tick, drained into velocity / angularVelocity by forces::integrateAccumulators at tick start, and then cleared.

Member Data Documentation

angImpulseAccum

glm::vec3 RigidBody::angImpulseAccum {0.0f}

Instantaneous angular-impulse accumulator (Phase 7).

angularDamping

float RigidBody::angularDamping = 0.05f

Per-frame angular damping factor (Phase 7).

forceAccum

glm::vec3 RigidBody::forceAccum {0.0f}

Continuous force accumulator. Integrated as dv += F * dt * invMass.

impulseAccum

glm::vec3 RigidBody::impulseAccum {0.0f}

Instantaneous impulse accumulator.

Integrated as dv += J * invMass (no dt — impulses are pre-integrated forces).

invInertiaWorld

glm::mat3 RigidBody::invInertiaWorld {0.0f}

World-space inverse inertia tensor.

Computed each tick by Phase 7's integration step as R * localInvInertia * R^T (where R is the body's rotation matrix). Phase 6 leaves this at identity since no rotation is integrated yet.

invMass

float RigidBody::invMass = 1.0f / 80.0f

Inverse mass.

0 = static / kinematic (infinite mass — applied forces have no effect). Defaults to 1 / 80 kg ≈ 0.0125 — a typical human-sized character mass.

isAsleep

bool RigidBody::isAsleep = false

Sleep state (Phase 12). Sleeping bodies skip integration.

linearDamping

float RigidBody::linearDamping = 0.0f

Per-frame linear damping factor.

velocity *= (1 - damping*dt). 0 = no damping. Useful for atmospheric drag on projectiles.

localInvInertia

glm::mat3 RigidBody::localInvInertia {0.0f}

Local-space inverse inertia tensor.

Diagonal-only suffices for the box / capsule / sphere shapes we currently support; off-diagonal terms are zero. Phase 7 will refresh invInertiaWorld each frame from this and the body's orientation.

sleepCounter

uint16_t RigidBody::sleepCounter = 0

Frames since the body's energy dropped below the sleep threshold (Phase 12).

torqueAccum

glm::vec3 RigidBody::torqueAccum {0.0f}

Continuous torque accumulator (Phase 7).

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The documentation for this struct was generated from the following file:

• src/ecs/components/RigidBody.hpp