Files
file	ToyMaker_Main/include/toymaker/engine/physics/system.hpp
	File containing ToyMaker's implementation of XPBD, extended position based dynamics.

Classes
class	ToyMaker::PhysicsSystem
	The physics system, an ECS system that tracks and updates the state of each physics object in the scene according to its properties. More...
struct	ToyMaker::PhysicsState
	Component representing the physics state of the body it's attached to at some particular point in time. More...
class	ToyMaker::BaseConstraint
	Base class for constraints. More...

Enumerations
enum	ToyMaker::PhysicsState::Mode : Traits { ToyMaker::PhysicsState::MODE_DYNAMIC =0x0 , ToyMaker::PhysicsState::MODE_KINEMATIC =0x1 , ToyMaker::PhysicsState::MODE_STATIC =0x2 }
	Defines how the object this component is attached to responds to physics updates. More...
enum	ToyMaker::PhysicsState::CollisionResponse : Traits { ToyMaker::PhysicsState::COLLISION_SEPARATE =0x4 , ToyMaker::PhysicsState::COLLISION_SIGNAL =0x8 }
	Defines how the object this component is attached to responds to collisions. More...

Functions
float	ToyMaker::computeGeneralizedInverseMassPositional (const ObjectBounds &object, const PhysicsState &physics, const glm::vec3 &correctionPoint, const glm::vec3 &correctionGradient)
	Computes the generalized inverse mass used for positional corrections applied by constraints.
float	ToyMaker::computeGeneralizedInverseMassRotational (const ObjectBounds &object, const PhysicsState &physics, const glm::vec3 &correctionRotational)
	Computes the generalized inverse mass used by constraints to apply strictly rotational corrections.
glm::mat3	ToyMaker::computeInertiaRotationalWorld (const glm::vec3 &rotationalInertiaLocal, const glm::quat &orientation)
	Returns an objects rotation tensor in the global frame given its tensor in the local frame according to its current orientation.
ObjectBounds	ToyMaker::applyImpulseObject (ObjectBounds object, const PhysicsState &physics, const glm::vec3 &impulsePositional, const glm::vec3 &impulsePoint)
	Returns object bounds in state it would be post application of a positional impulse.
ObjectBounds	ToyMaker::applyImpulseObject (ObjectBounds object, const PhysicsState &physics, const glm::vec3 &impulseRotational)
	Returns object bounds in state it would be post application of a rotational impulse.
PhysicsState	ToyMaker::applyImpulsePhysics (const ObjectBounds &object, PhysicsState physics, const glm::vec3 &impulsePositional, const glm::vec3 &impulsePoint)
	Returns new physics state after application of global impulse.
PhysicsState	ToyMaker::applyImpulsePhysics (const ObjectBounds &object, PhysicsState physics, const glm::vec3 &impulseRotational)
	Returns new physics state after application of global angular impulse.

Detailed Description

Enumeration Type Documentation

◆ CollisionResponse

enum ToyMaker::PhysicsState::CollisionResponse : Traits

Defines how the object this component is attached to responds to collisions.

Enumerator
COLLISION_SEPARATE	Whether this object should be separated from the object it collides with.
COLLISION_SIGNAL	Whether this object's collision events should be reported (via signal).

◆ Mode

enum ToyMaker::PhysicsState::Mode : Traits

Defines how the object this component is attached to responds to physics updates.

Enumerator

MODE_DYNAMIC

Trait indicating that this object responds to external forces, including those set externally, or generated by constraints, and so on.

MODE_KINEMATIC

Trait indicating that this object will undergo position and orientation updates according to its translational and rotational velocity, but won't respond to any forces.

In effect, this object will act as though it is of infinite mass.

MODE_STATIC

Trait indicating that this object won't undergo any physics system updates whatsoever.

Function Documentation

◆ computeGeneralizedInverseMassPositional()

float ToyMaker::computeGeneralizedInverseMassPositional	(	const ObjectBounds &	object,
		const PhysicsState &	physics,
		const glm::vec3 &	correctionPoint,
		const glm::vec3 &	correctionGradient )

Computes the generalized inverse mass used for positional corrections applied by constraints.

Parameters

object	The bounds indicating the current position and orientation of the object in world space
inverseMass	1 divided by the mass of the object.
inverseRotationalInertia	The inverse of the rotational inertia of this object in its local frame
correctionPoint	Location of the point of application of the correction
correctionGradient	The direction of the greatest increase in error with respect to the desired object state in terms of its position.

◆ computeGeneralizedInverseMassRotational()

float ToyMaker::computeGeneralizedInverseMassRotational	(	const ObjectBounds &	object,
		const PhysicsState &	physics,
		const glm::vec3 &	correctionRotational )

Computes the generalized inverse mass used by constraints to apply strictly rotational corrections.

Parameters

inverseMass	1 divided by the mass of the object.
inverseRotationalInertia	The inverse of the rotational inertia of the object in its local frame.
correction	The vector representing the desired rotational correction, usually a product of an impulse vector and its offset from the object's center-of-mass. Moving along its direction increases the magnitude of the correction required

Files

Classes

Enumerations