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soa-world doc: rolling resistance in the descriptor

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Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
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Nibu 2026-11-07 04:08:18 +00:00
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docs/soa-world.md
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@ -14,7 +14,7 @@ separate native object (`ymir_box3d_soa.c`, ABI 1) so the Aetheria session's con
- Native (ABI 2): `ymir_box3d_soa_create(capacity, joint_capacity, gravity) / add_body / add_joint / step /
get_view / destroy`. `add_body` takes one descriptor (sphere, capsule, box, static box; position,
rotation, velocity, size, density, friction, restitution, parent, limb). Capacities are fixed at creation,
rotation, velocity, size, density, friction, restitution, rolling resistance, parent, limb). Capacities are fixed at creation,
so lane pointers never move.
- Body lanes (`ymir_box3d_soa_view`): `stable_id`, `kind`, `parent` and `limb` (set at creation, not read by
Box3D: the limb tree for the consumer), position xyz, rotation quaternion xyzw, linear and angular