Classes
struct	ConstraintContext
struct	Vec3Hash
	Hash function for glm::vec3 to use in unordered_map. More...
struct	Vec3Equal
	Equality function for glm::vec3 (exact comparison). More...
struct	DeduplicatedMesh
	Structure holding deduplicated mesh data for Jolt soft body. More...
struct	CreateSettingsResult
	Result of creating Jolt shared settings, includes vertex mapping. More...

Functions
static void	OnCharacterControllerConstruct (Engine::Core::Registry &registry, Engine::EntityId entityId)
static void	OnCharacterControllerDestroy (Engine::Core::Registry &registry, Engine::EntityId entityId)
void	CharacterControllerUpdate (Engine::Core &core)
	Update the character controller system. This will process all entities with character controllers and update their state based on input and physics interactions.
void	InitCharacterControllerSystem (Engine::Core &core)
	Initialize the character controller system. This will set up necessary resources and state for character controllers to function.
void	ShutdownCharacterControllerSystem (Engine::Core &core)
	Shutdown the character controller system. This will clean up any resources used by the system.
Component::RigidBodyInternal *	GetBodyInternal (Engine::Entity entity, const char constraintName, const char bodyName)
void	FinalizeConstraint (ConstraintContext &ctx, Engine::Entity entity, JPH::Constraint joltConstraint, Component::ConstraintType type, const Component::ConstraintSettings &settings, const char constraintName)
void	DestroyConstraint (Engine::Core::Registry &registry, Engine::EntityId entity, const char *constraintName)
template<typename ConstraintT>
static bool	ValidateConstraint (const ConstraintT &constraint, const char *constraintName)
template<typename SettingsT, typename ConstraintT>
static JPH::Constraint *	CreateJoltConstraint (ConstraintContext &ctx, SettingsT &joltSettings, const ConstraintT &constraint, Component::RigidBodyInternal internalA, const char constraintName)
template<Component::ConstraintType TYPE, typename CompT, typename SettingsT, typename Configurator, typename ExtraValidate>
static void	CreateConstraintGeneric (Engine::Core::Registry &registry, Engine::EntityId entity, const char *constraintName, Configurator &&configurator, ExtraValidate &&extraValidate)
static void	OnFixedConstraintConstruct (Engine::Core::Registry &registry, Engine::EntityId entity)
static void	OnFixedConstraintDestroy (Engine::Core::Registry &registry, Engine::EntityId entity)
static void	OnDistanceConstraintConstruct (Engine::Core::Registry &registry, Engine::EntityId entity)
static void	OnDistanceConstraintDestroy (Engine::Core::Registry &registry, Engine::EntityId entity)
static void	OnPointConstraintConstruct (Engine::Core::Registry &registry, Engine::EntityId entity)
static void	OnPointConstraintDestroy (Engine::Core::Registry &registry, Engine::EntityId entity)
void	InitConstraintSystem (Engine::Core &core)
void	InitJoltPhysics (Engine::Core &core)
	Init internal elements needed by JoltPhysics.
void	InitPhysicsManager (Engine::Core &core)
	Init the PhysicsManager.
void	PhysicsUpdate (Engine::Core &core)
	Applies every update of the physics system.
static JPH::RefConst< JPH::Shape >	CreateConvexHullFromMesh (const Object::Component::Mesh &mesh, const Component::ConvexHullMeshCollider *meshCollider, const glm::vec3 &scale)
	Create a ConvexHullShape from mesh vertices.
static JPH::RefConst< JPH::Shape >	CreateMeshShapeFromMesh (const Object::Component::Mesh &mesh, const Component::MeshCollider *meshCollider, const glm::vec3 &scale)
	Create a MeshShape from mesh vertices and indices.
static JPH::RefConst< JPH::Shape >	CreateShapeFromColliders (Engine::Core::Registry &registry, Engine::EntityId entity)
	Create a Jolt shape from collider components.
static void	OnRigidBodyConstruct (Engine::Core::Registry &registry, Engine::EntityId entityId)
	Called when RigidBody component is added to an entity.
static void	OnRigidBodyInternalConstruct (Engine::Core::Registry &registry, Engine::EntityId entityId)
static void	OnRigidBodyDestroy (Engine::Core::Registry &registry, Engine::EntityId entityId)
	Called when RigidBody component is removed from an entity.
static void	OnRigidBodyInternalDestroy (Engine::Core::Registry &registry, Engine::EntityId entityId)
void	InitRigidBodySystem (Engine::Core &core)
	Initialize RigidBody system and register entt hooks.
void	ShutdownRigidBodySystem (Engine::Core &core)
	Shutdown RigidBody system and unregister entt hooks.
static std::vector< std::pair< uint32_t, uint32_t > >	GenerateEdgesFromFaces (const std::vector< uint32_t > &faceIndices)
	Generate edge constraints from triangle face indices.
static DeduplicatedMesh	DeduplicateMesh (const Object::Component::Mesh &mesh)
	Convert a potentially "flat" mesh (with duplicated vertices) to an indexed mesh with unique vertices.
static CreateSettingsResult	CreateJoltSharedSettings (const Component::SoftBody &softBody, const Object::Component::Mesh &mesh, const glm::vec3 &scale=glm::vec3(1.0f))
	Convert SoftBody component to Jolt SoftBodySharedSettings.
static JPH::SoftBodyCreationSettings	CreateJoltCreationSettings (const Component::SoftBody &softBody, const JPH::Ref< JPH::SoftBodySharedSettings > &sharedSettings, const JPH::RVec3 &position, const JPH::Quat &rotation)
	Create Jolt SoftBodyCreationSettings from component.
static void	OnSoftBodyConstruct (Engine::Core::Registry &registry, Engine::EntityId entityId)
static void	OnSoftBodyInternalConstruct (Engine::Core::Registry &registry, Engine::EntityId entityId)
static void	OnSoftBodyDestroy (Engine::Core::Registry &registry, Engine::EntityId entityId)
static void	OnSoftBodyInternalDestroy (Engine::Core::Registry &registry, Engine::EntityId entityId)
void	InitSoftBodySystem (Engine::Core &core)
	Initialize the soft body system.
void	ShutdownSoftBodySystem (Engine::Core &core)
	Shutdown the soft body system.
void	SyncSoftBodyVertices (Engine::Core &core)
	Synchronize soft body vertex positions to mesh data.
void	SyncTransformWithPhysics (Engine::Core &core)
	Synchronize Transform components with Jolt Physics body positions.
void	VehicleControlSystem (Engine::Core &core)
	Apply vehicle controller inputs to Jolt vehicle constraints.
void	VehicleRPMUpdate (Engine::Core &core)
	Update per-vehicle RPM telemetry from Jolt controller. Runs in FixedTimeUpdate.
static void	CreateJoltWheelSettings (JPH::WheelSettingsWV &joltWheel, const Component::WheelSettings &wheelSettings, const glm::vec3 &position, bool isRear)
	Create Jolt wheel settings from Physics wheel configuration.
static void	OnVehicleConstruct (Engine::Core::Registry &registry, Engine::EntityId entityId)
	Called when Vehicle component is added to an entity.
static void	OnVehicleDestroy (Engine::Core::Registry &registry, Engine::EntityId entityId)
	Called when Vehicle component is removed from an entity.
void	InitVehicleSystem (Engine::Core &core)
	Initialize the vehicle system with entt lifecycle hooks.
void	WheelTransformSyncSystem (Engine::Core &core)
	Sync wheel entity transforms with Jolt vehicle wheel positions.

Function Documentation

◆ CharacterControllerUpdate()

void Physics::System::CharacterControllerUpdate ( Engine::Core & core )

Update the character controller system. This will process all entities with character controllers and update their state based on input and physics interactions.

Parameters

core	The engine core to update the system with.

◆ CreateConstraintGeneric()

template<Component::ConstraintType TYPE, typename CompT, typename SettingsT, typename Configurator, typename ExtraValidate>

void Physics::System::CreateConstraintGeneric	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity,
		const char *	constraintName,
		Configurator &&	configurator,
		ExtraValidate &&	extraValidate )

static

◆ CreateConvexHullFromMesh()

JPH::RefConst< JPH::Shape > Physics::System::CreateConvexHullFromMesh	(	const Object::Component::Mesh &	mesh,
		const Component::ConvexHullMeshCollider *	meshCollider,
		const glm::vec3 &	scale )

static

Create a ConvexHullShape from mesh vertices.

Parameters

mesh	The mesh component containing vertices
meshCollider	Pointer to ConvexHullMeshCollider settings (nullable). If null, default settings are used.
scale	Scale to apply to the mesh vertices (from Transform component)

Returns: RefConst to the created shape, or nullptr on failure

◆ CreateJoltConstraint()

template<typename SettingsT, typename ConstraintT>

JPH::Constraint * Physics::System::CreateJoltConstraint	(	ConstraintContext &	ctx,
		SettingsT &	joltSettings,
		const ConstraintT &	constraint,
		Component::RigidBodyInternal *	internalA,
		const char *	constraintName )

static

◆ CreateJoltCreationSettings()

JPH::SoftBodyCreationSettings Physics::System::CreateJoltCreationSettings	(	const Component::SoftBody &	softBody,
		const JPH::Ref< JPH::SoftBodySharedSettings > &	sharedSettings,
		const JPH::RVec3 &	position,
		const JPH::Quat &	rotation )

static

Create Jolt SoftBodyCreationSettings from component.

◆ CreateJoltSharedSettings()

CreateSettingsResult Physics::System::CreateJoltSharedSettings	(	const Component::SoftBody &	softBody,
		const Object::Component::Mesh &	mesh,
		const glm::vec3 &	scale = glm::vec3(1.0f) )

static

Convert SoftBody component to Jolt SoftBodySharedSettings.

Parameters

softBody	The soft body component with settings and physics data
mesh	The mesh containing vertices and face indices
scale	The scale factor from Transform to apply to vertices (default: 1.0)

Returns: CreateSettingsResult with settings and vertex mapping

Note: The scale is applied to mesh vertices before creating the Jolt soft body. This allows users to use Transform.scale to resize soft bodies without manually scaling the mesh vertices.

◆ CreateJoltWheelSettings()

void Physics::System::CreateJoltWheelSettings	(	JPH::WheelSettingsWV &	joltWheel,
		const Component::WheelSettings &	wheelSettings,
		const glm::vec3 &	position,
		bool	isRear )

static

Create Jolt wheel settings from Physics wheel configuration.

◆ CreateMeshShapeFromMesh()

JPH::RefConst< JPH::Shape > Physics::System::CreateMeshShapeFromMesh	(	const Object::Component::Mesh &	mesh,
		const Component::MeshCollider *	meshCollider,
		const glm::vec3 &	scale )

static

Create a MeshShape from mesh vertices and indices.

Parameters

mesh	The mesh component containing vertices and indices
meshCollider	Pointer to MeshCollider settings (nullable)
scale	Scale to apply to the mesh vertices (from Transform component)

Returns: RefConst to the created shape, or nullptr on failure

◆ CreateShapeFromColliders()

JPH::RefConst< JPH::Shape > Physics::System::CreateShapeFromColliders	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity )

static

Create a Jolt shape from collider components.

Returns: Shared pointer to shape, or nullptr if no collider found

Note

Priority order when multiple colliders exist:

SphereCollider
CapsuleCollider
BoxCollider
MeshCollider (requires Object::Mesh component)

If no collider is found, it will default to the MeshCollider with default settings, which can be pretty heavy. Make sure to always use the most appropriate colliders for RigidBodies.

◆ DeduplicateMesh()

DeduplicatedMesh Physics::System::DeduplicateMesh ( const Object::Component::Mesh & mesh )

static

Convert a potentially "flat" mesh (with duplicated vertices) to an indexed mesh with unique vertices.

OBJLoader creates meshes where each face has its own copy of vertices, resulting in indices like [0, 1, 2, 3, 4, 5, ...] where vertices are duplicated. Jolt SoftBody needs a proper indexed mesh with shared vertices for constraint creation.

Parameters

mesh	The input mesh (potentially with duplicated vertices)

Returns: DeduplicatedMesh with unique vertices and proper indices

◆ DestroyConstraint()

void Physics::System::DestroyConstraint	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity,
		const char *	constraintName )

◆ FinalizeConstraint()

void Physics::System::FinalizeConstraint	(	ConstraintContext &	ctx,
		Engine::Entity	entity,
		JPH::Constraint *	joltConstraint,
		Component::ConstraintType	type,
		const Component::ConstraintSettings &	settings,
		const char *	constraintName )

◆ GenerateEdgesFromFaces()

std::vector< std::pair< uint32_t, uint32_t > > Physics::System::GenerateEdgesFromFaces ( const std::vector< uint32_t > & faceIndices )

static

Generate edge constraints from triangle face indices.

This function takes triangle indices and creates unique edge pairs for soft body constraint creation.

Parameters

faceIndices Triangle indices (size must be multiple of 3)

Returns: Vector of unique edge pairs (vertex index A, vertex index B)

◆ GetBodyInternal()

Component::RigidBodyInternal * Physics::System::GetBodyInternal	(	Engine::Entity	entity,
		const char *	constraintName,
		const char *	bodyName )

◆ InitCharacterControllerSystem()

void Physics::System::InitCharacterControllerSystem ( Engine::Core & core )

Initialize the character controller system. This will set up necessary resources and state for character controllers to function.

Parameters

core	The engine core to initialize the system with.

◆ InitConstraintSystem()

void Physics::System::InitConstraintSystem ( Engine::Core & core )

Examples: /home/runner/work/EngineSquared/EngineSquared/src/plugin/physics/src/system/ConstraintSystem.hpp.

◆ InitJoltPhysics()

void Physics::System::InitJoltPhysics ( Engine::Core & core )

Init internal elements needed by JoltPhysics.

Parameters

core core

Note: To be used with the "Startup" scheduler.

◆ InitPhysicsManager()

void Physics::System::InitPhysicsManager ( Engine::Core & core )

Init the PhysicsManager.

Parameters

core core

Note: To be used with the "Startup" scheduler.

◆ InitRigidBodySystem()

void Physics::System::InitRigidBodySystem ( Engine::Core & core )

Initialize RigidBody system and register entt hooks.

This system sets up the entt hooks for RigidBody component:

on_construct: Creates Jolt body, adds RigidBodyInternal component
on_destroy: Removes Jolt body, cleans up RigidBodyInternal

Parameters

core	The engine core

Note: To be used with the "Startup" scheduler

Examples: /home/runner/work/EngineSquared/EngineSquared/src/plugin/physics/src/system/ConstraintSystem.hpp.

◆ InitSoftBodySystem()

void Physics::System::InitSoftBodySystem ( Engine::Core & core )

Initialize the soft body system.

Registers entt hooks for SoftBody component creation and destruction. Should be called during physics plugin initialization.

Parameters

core	Reference to the engine core

◆ InitVehicleSystem()

void Physics::System::InitVehicleSystem ( Engine::Core & core )

Initialize the vehicle system with entt lifecycle hooks.

Registers callbacks for Vehicle component construction and destruction. Must be called during Engine startup (Scheduler::Startup).

◆ OnCharacterControllerConstruct()

void Physics::System::OnCharacterControllerConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

◆ OnCharacterControllerDestroy()

void Physics::System::OnCharacterControllerDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

◆ OnDistanceConstraintConstruct()

void Physics::System::OnDistanceConstraintConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity )

static

◆ OnDistanceConstraintDestroy()

void Physics::System::OnDistanceConstraintDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity )

static

◆ OnFixedConstraintConstruct()

void Physics::System::OnFixedConstraintConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity )

static

◆ OnFixedConstraintDestroy()

void Physics::System::OnFixedConstraintDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity )

static

◆ OnPointConstraintConstruct()

void Physics::System::OnPointConstraintConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity )

static

◆ OnPointConstraintDestroy()

void Physics::System::OnPointConstraintDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entity )

static

◆ OnRigidBodyConstruct()

void Physics::System::OnRigidBodyConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

Called when RigidBody component is added to an entity.

Note

This creates:

Default collider if no collider exists
Jolt physics body with all properties
RigidBodyInternal component with BodyID

◆ OnRigidBodyDestroy()

void Physics::System::OnRigidBodyDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

Called when RigidBody component is removed from an entity.

Note

This destroys:

Jolt physics body
RigidBodyInternal component

Colliders are NOT automatically removed (user may want to keep them)

◆ OnRigidBodyInternalConstruct()

void Physics::System::OnRigidBodyInternalConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

◆ OnRigidBodyInternalDestroy()

void Physics::System::OnRigidBodyInternalDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

◆ OnSoftBodyConstruct()

void Physics::System::OnSoftBodyConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

◆ OnSoftBodyDestroy()

void Physics::System::OnSoftBodyDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

◆ OnSoftBodyInternalConstruct()

void Physics::System::OnSoftBodyInternalConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

◆ OnSoftBodyInternalDestroy()

void Physics::System::OnSoftBodyInternalDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

◆ OnVehicleConstruct()

void Physics::System::OnVehicleConstruct	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

Called when Vehicle component is added to an entity.

Creates:

Jolt WheeledVehicleController with all settings
VehicleConstraint attached to chassis
VehicleInternal component with constraint data

Note: Jolt's WheeledVehicle does NOT use separate physics bodies for wheels. Wheels are simulated via raycasts/shape casts from the chassis.

◆ OnVehicleDestroy()

void Physics::System::OnVehicleDestroy	(	Engine::Core::Registry &	registry,
		Engine::EntityId	entityId )

static

Called when Vehicle component is removed from an entity.

Destroys:

Jolt VehicleConstraint
VehicleInternal component

◆ PhysicsUpdate()

void Physics::System::PhysicsUpdate ( Engine::Core & core )

Applies every update of the physics system.

After physics update, flush any buffered contact events from worker threads to the EventManager in the core.

Parameters

core core

Note: To be used with the "RelativeTimeUpdate" scheduler.

◆ ShutdownCharacterControllerSystem()

void Physics::System::ShutdownCharacterControllerSystem ( Engine::Core & core )

Shutdown the character controller system. This will clean up any resources used by the system.

Parameters

core	The engine core to shut down the system from.

◆ ShutdownRigidBodySystem()

void Physics::System::ShutdownRigidBodySystem ( Engine::Core & core )

Shutdown RigidBody system and unregister entt hooks.

This system disconnects the entt hooks for RigidBody component.

Parameters

core	The engine core

Note: To be used with the "Shutdown" scheduler

◆ ShutdownSoftBodySystem()

void Physics::System::ShutdownSoftBodySystem ( Engine::Core & core )

Shutdown the soft body system.

Cleans up any remaining soft bodies.

Parameters

core	Reference to the engine core

◆ SyncSoftBodyVertices()

void Physics::System::SyncSoftBodyVertices ( Engine::Core & core )

Synchronize soft body vertex positions to mesh data.

Updates vertex positions from Jolt soft body simulation. Should be called after physics update.

Parameters

core	Reference to the engine core

◆ SyncTransformWithPhysics()

void Physics::System::SyncTransformWithPhysics ( Engine::Core & core )

Synchronize Transform components with Jolt Physics body positions.

This system should run in the FixedTimeUpdate scheduler AFTER PhysicsUpdate. It reads the position and rotation from Jolt bodies and updates the corresponding Transform components.

Only dynamic and kinematic bodies are synchronized (static bodies don't move).

Parameters

core	The engine core

Note: To be used with the "FixedTimeUpdate" scheduler

◆ ValidateConstraint()

template<typename ConstraintT>

bool Physics::System::ValidateConstraint	(	const ConstraintT &	constraint,
		const char *	constraintName )

static

◆ VehicleControlSystem()

void Physics::System::VehicleControlSystem ( Engine::Core & core )

Apply vehicle controller inputs to Jolt vehicle constraints.

Should run every physics tick (FixedTimeUpdate scheduler). Reads VehicleController component values and applies them to the WheeledVehicleController.

◆ VehicleRPMUpdate()

void Physics::System::VehicleRPMUpdate ( Engine::Core & core )

Update per-vehicle RPM telemetry from Jolt controller. Runs in FixedTimeUpdate.

◆ WheelTransformSyncSystem()

void Physics::System::WheelTransformSyncSystem ( Engine::Core & core )

Sync wheel entity transforms with Jolt vehicle wheel positions.

Should run every physics tick (FixedTimeUpdate scheduler) AFTER PhysicsUpdate. Updates the Transform component of each wheel entity to match the computed wheel position and rotation from the vehicle constraint.

Classes

Functions

Function Documentation

◆ CharacterControllerUpdate()

◆ CreateConstraintGeneric()

◆ CreateConvexHullFromMesh()

◆ CreateJoltConstraint()

◆ CreateJoltCreationSettings()

◆ CreateJoltSharedSettings()

◆ CreateJoltWheelSettings()

◆ CreateMeshShapeFromMesh()

◆ CreateShapeFromColliders()

◆ DeduplicateMesh()

◆ DestroyConstraint()

◆ FinalizeConstraint()

◆ GenerateEdgesFromFaces()

◆ GetBodyInternal()

◆ InitCharacterControllerSystem()

◆ InitConstraintSystem()

◆ InitJoltPhysics()

◆ InitPhysicsManager()

◆ InitRigidBodySystem()

◆ InitSoftBodySystem()

◆ InitVehicleSystem()

◆ OnCharacterControllerConstruct()

◆ OnCharacterControllerDestroy()

◆ OnDistanceConstraintConstruct()

◆ OnDistanceConstraintDestroy()

◆ OnFixedConstraintConstruct()

◆ OnFixedConstraintDestroy()

◆ OnPointConstraintConstruct()

◆ OnPointConstraintDestroy()

◆ OnRigidBodyConstruct()

◆ OnRigidBodyDestroy()

◆ OnRigidBodyInternalConstruct()

◆ OnRigidBodyInternalDestroy()

◆ OnSoftBodyConstruct()

◆ OnSoftBodyDestroy()

◆ OnSoftBodyInternalConstruct()

◆ OnSoftBodyInternalDestroy()

◆ OnVehicleConstruct()

◆ OnVehicleDestroy()

◆ PhysicsUpdate()

◆ ShutdownCharacterControllerSystem()

◆ ShutdownRigidBodySystem()

◆ ShutdownSoftBodySystem()

◆ SyncSoftBodyVertices()

◆ SyncTransformWithPhysics()

◆ ValidateConstraint()

◆ VehicleControlSystem()

◆ VehicleRPMUpdate()

◆ WheelTransformSyncSystem()