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feat(physics): a walker (Jolt CharacterVirtual with an inner body) and the verbs a boat and a guest's copy need - force, torque, angular impulse, spin, set_pose

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Five new tests: stand and walk at the asked speed, a low stone is a step and a tall one a wall, a
jump up and back, a crate shoved aside, a hull turned by a torque and carried by a force.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Orkun ÇAKILKAYA 2026-09-27 00:24:47 +03:00
parent b44b88e00e
commit c7a18fd4f0
12 changed files with 334 additions and 2 deletions
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19
packages/ludic.physics/bodies.ludic
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@ -68,3 +68,22 @@ export function phys_awake(physics_st: PhysicsState, id: int) -> bool { return p
export function phys_set_kinematic_target(physics_st: mut PhysicsState, id: int, x: float, y: float, z: float, yaw: float) -> void {
if physics_st.ph_world != null { jph_body_target(physics_st.ph_world, id, x, y, z, yaw, physics_st.ph_step) }
}
# a push kept up over the next step (an oar), a twist, and a twist at once
export function phys_force(physics_st: mut PhysicsState, id: int, x: float, y: float, z: float) -> void { if physics_st.ph_world != null { jph_body_force(physics_st.ph_world, id, x, y, z) } }
export function phys_torque(physics_st: mut PhysicsState, id: int, x: float, y: float, z: float) -> void { if physics_st.ph_world != null { jph_body_torque(physics_st.ph_world, id, x, y, z) } }
export function phys_angular_impulse(physics_st: mut PhysicsState, id: int, x: float, y: float, z: float) -> void { if physics_st.ph_world != null { jph_body_angular_impulse(physics_st.ph_world, id, x, y, z) } }
# how fast it turns about y, radians a second
export function phys_spin_y(physics_st: mut PhysicsState, id: int) -> float {
if physics_st.ph_world == null { return 0.0 }
ph_buffers(physics_st)
jph_body_spin(physics_st.ph_world, id, physics_st.ph_vals)
return physics_st.ph_vals[1]
}
# a body put exactly where a pose says, moving as it says: a guest's copy of the host's body
export function phys_set_pose(physics_st: mut PhysicsState, id: int, p: PhysPose) -> void {
if physics_st.ph_world == null or p == null { return }
jph_body_set_pose(physics_st.ph_world, id, p.x, p.y, p.z, p.qx, p.qy, p.qz, p.qw, p.vx, p.vy, p.vz)
}