#2 - SoA world: joints, force/torque lanes, capsules and boxes - GameCult/Ymir

Nibu

soa-world doc: rolling resistance in the descriptor

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>

ea7b3f3d7f

2026-11-07 04:08:18 +00:00

Nibu

SoA world: rolling resistance on the body descriptor

A bare sphere or capsule rolls on without it, so a fallen head never settles.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>

b96ad34b0b

2026-11-07 04:07:38 +00:00

Nibu

Ymir.Box3D: let Lodur.Body.Ymir see the SoA world until Ymir.Core has a public surface

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>

02276363fc

2026-11-07 03:56:51 +00:00

Nibu

SoA world: joints, force/torque write lanes, capsules and boxes, parent/limb lanes

ABI 2. One body descriptor replaces add_sphere/add_static_box (kinds: sphere, capsule, box, static box).
Revolute, spherical and weld joints created from a world anchor and axis, with joint state lanes (angle,
frame A orientation, relative rotation, relative angular velocity). Per-body force and torque write lanes,
applied before the step then cleared; non-finite values refuse the step. Parent and limb index lanes.
Tests run serially: concurrent b3CreateWorld aborts the host.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>

8bb0d0b1de

2026-11-07 03:55:49 +00:00

SoA world: joints, force/torque lanes, capsules and boxes #2

2026-11-07