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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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23
packages/ludic.physics/native/shim/jph_bodies.inl
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@ -62,3 +62,26 @@ JPH_SHIM int jph_body_buoyancy(void *w, int id, float sy, float nx, float ny, fl
Vec3(cx, 0.0f, cz), ww->sys.GetGravity(), dt);
return in ? 1 : 0;
}
// a push kept up over the next step (an oar's stroke, a paddle), and a twist
JPH_SHIM void jph_body_force(void *w, int id, float x, float y, float z) {
static_cast<World *>(w)->sys.GetBodyInterface().AddForce(bid(id), Vec3(x, y, z));
}
JPH_SHIM void jph_body_torque(void *w, int id, float x, float y, float z) {
static_cast<World *>(w)->sys.GetBodyInterface().AddTorque(bid(id), Vec3(x, y, z));
}
JPH_SHIM void jph_body_angular_impulse(void *w, int id, float x, float y, float z) {
static_cast<World *>(w)->sys.GetBodyInterface().AddAngularImpulse(bid(id), Vec3(x, y, z));
}
// how fast it turns (x, y, z), into out[3]
JPH_SHIM void jph_body_spin(void *w, int id, float *out) {
Vec3 a = static_cast<World *>(w)->sys.GetBodyInterface().GetAngularVelocity(bid(id));
out[0] = a.GetX(); out[1] = a.GetY(); out[2] = a.GetZ();
}
// where a body is going, set whole: a guest's copy of the host's body, moved to what the host said
JPH_SHIM void jph_body_set_pose(void *w, int id, float x, float y, float z, float qx, float qy, float qz, float qw,
float vx, float vy, float vz) {
BodyInterface &bi = static_cast<World *>(w)->sys.GetBodyInterface();
bi.SetPositionAndRotation(bid(id), RVec3(x, y, z), Quat(qx, qy, qz, qw).Normalized(), EActivation::Activate);
bi.SetLinearVelocity(bid(id), Vec3(vx, vy, vz));
}