Physics & FPS#102
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Physics - Implemented Continuous Collision Detection (CCD) using Time-of-Impact (TOI) to prevent tunneling in 3D. - Added AABB-based Broad-phase filtering to optimize collision detection performance. - Refactored Physics2D and Physics3D components to delegate movement and collision logic to the manager. - Standardized physics integration (Gravity, Force, Friction) across the engine. FPS - Switched FPS calculation from frame-count based to fixed-time interval (1.0s) for enhanced stability. -Implemented first-frame synchronization to eliminate initial startup and loading spikes. -Added FPS clamping logic to maintain statistical consistency within user-defined limits.
Rigid Body Dynamics & Rotational Physics
- Introduced Moment of Inertia, Torque, and Angular Velocity to simulate realistic rotational movements for both 2D and 3D objects.
- Implemented Quaternion integration in 3D (Physics3D) to prevent gimbal lock and ensure accurate 3D rotation tracking.
Advanced Collision Response (Angular Impulse)
- Upgraded the collision resolution logic to calculate exact contact points (e.g., finding the deepest penetrating vertices and centroids via SAT).
- Added Lever Arm (rA, rB) calculations to apply angular impulses. Objects now spin realistically when hit off-center, conserving angular momentum.
Physics Optimization (Sleep System)
- Implemented a Sleep State algorithm for 3D physics. Objects with negligible linear and angular velocities are put to sleep, preventing unnecessary frame-by-frame calculations and significantly improving performance.
Code Standardization & Documentation
- Variable Naming: Standardized all local variables to lowerCamelCase (e.g., skin_width -> skinWidth, objA -> objectA).
- Formatting: Enforced explicit curly braces {} and line breaks for all if statements to prevent future scope bugs.
- Comments: Added comprehensive, step-by-step English comments explaining the complex math behind the Separating Axis Theorem (SAT), collision detection, and impulse calculations.
3D Physics Demo Updates
- Added a dynamic object spawning feature to the physics demo. Pressing the BACKSPACE key now randomly instantiates physics objects (either cubes or spheres) in mid-air. These spawned objects are generated with randomized properties, including initial position, rotation, scale, and color, along with an accurately scaled mass and restitution for realistic physical interactions.
Collision Filtering & Masking Architecture - Implemented a dynamic collisionMaskMap within PhysicsManager to explicitly define interaction rules between different ObjectType pairs (e.g., COLLIDE vs IGNORED). - Introduced the isGhostCollision property to physics bodies. This allows specific objects to be evaluated during the broad/narrow phases for overlap detection (triggers/boundaries) without applying physical positional corrections or impulses. - Optimized the Narrow Phase pipeline to immediately discard and erase object pairs marked as IGNORED, bypassing expensive SAT (Separating Axis Theorem) and distance checks entirely. 2D Rotational Physics Dynamics - Introduced MomentOfInertia, InverseInertia, Torque, and AngularVelocity to the Physics2D component to simulate realistic rigid-body rotational movements. - Automated the calculation of Moment of Inertia upon collider creation, applying the correct physics formulas based on the shape and mass. -nIntegrated rotational damping (friction) into the angular velocity calculations to gradually stabilize spinning objects over time. Refactored the Physics Demo UI - Replaced the Backspace key shortcut for spawning objects with a dedicated button in the ImGui window for better usability.
CubeBerry
approved these changes
Apr 15, 2026
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Physics Core & Collisions
Rigid Body & Rotational Dynamics
Physics3Dto accurately track rotation and prevent gimbal lock.Architecture & Optimization
Demo & UI Updates
Note: Additional optimization for the physics pipeline is currently in progress.