actor

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 Go to latest Published: Dec 21, 2025 License: Apache-2.0 Imports: 3 Imported by: 0

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Constants

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Variables

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Functions

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Types

type AABB 

type AABB struct {
	Min mgl64.Vec3
	Max mgl64.Vec3
}

AABB represents an axis-aligned bounding box

func (AABB) ContainsPoint 

func (a AABB) ContainsPoint(point mgl64.Vec3) bool

ContainsPoint checks if a point is inside the AABB

func (AABB) Overlaps 

func (a AABB) Overlaps(other AABB) bool

Overlaps checks if two AABBs overlap

type BodyType 

type BodyType int

BodyType represents the type of rigid body 

const (
	// BodyTypeDynamic bodies are affected by forces, gravity, and collisions
	// They have finite mass and can move freely
	BodyTypeDynamic BodyType = iota

	// BodyTypeStatic bodies are immovable and have infinite mass
	// They are not affected by forces or gravity (e.g., ground, walls)
	BodyTypeStatic
)

type Box 

type Box struct {
	HalfExtents mgl64.Vec3
	// contains filtered or unexported fields
}

Box represents an oriented box collision shape The box is defined by its half-extents (half-width, half-height, half-depth)

func (*Box) CollideWithPlane 

func (b *Box) CollideWithPlane(planeNormal mgl64.Vec3, planeDistance float64, myTransform Transform) (bool, PlaneContact)

CollideWithPlane - Collision Box/Plane

func (*Box) ComputeAABB 

func (b *Box) ComputeAABB(transform Transform)

func (*Box) ComputeInertia 

func (b *Box) ComputeInertia(mass float64) mgl64.Mat3

func (*Box) ComputeMass 

func (b *Box) ComputeMass(density float64) float64

ComputeMass calculates mass data for the box

func (*Box) GetAABB 

func (b *Box) GetAABB() AABB

func (*Box) GetContactFeature 

func (b *Box) GetContactFeature(direction mgl64.Vec3, output *[8]mgl64.Vec3, count *int)

func (*Box) Support 

func (b *Box) Support(direction mgl64.Vec3) mgl64.Vec3

type ContactPoint 

type ContactPoint struct {
	Position    mgl64.Vec3
	Penetration float64
}

type Material 

type Material struct {
	Density float64

	Restitution float64 // 0= no rebound, 1= perfect restitution

	StaticFriction  float64
	DynamicFriction float64
	LinearDamping   float64 // 0.0 - 1.0, typique : 0.01
	AngularDamping  float64 // 0.0 - 1.0, typique : 0.05
	// contains filtered or unexported fields
}

func (Material) GetMass 

func (material Material) GetMass() float64

type Plane 

type Plane struct {
	Normal   mgl64.Vec3 // Plane normal (must be normalized)
	Distance float64    // Plane constant (signed distance from origin)
	// contains filtered or unexported fields
}

Plane represents an infinite plane collision shape The plane is defined by the equation: Normal · p + Distance = 0 where Normal is the plane's normal vector (must be normalized) and Distance is the signed distance from the origin along the normal

func (*Plane) CollideWithPlane 

func (p *Plane) CollideWithPlane(planeNormal mgl64.Vec3, planeDistance float64, myTransform Transform) (bool, PlaneContact)

CollideWithPlane - Plane/Plane collision (not supported)

func (*Plane) ComputeAABB 

func (p *Plane) ComputeAABB(transform Transform)

This method is bypassed, because planes are automatically included from the broad phase to the narrow phase We use specific functions for plane / convex shapes collision

func (*Plane) ComputeInertia 

func (p *Plane) ComputeInertia(mass float64) mgl64.Mat3

func (*Plane) ComputeMass 

func (p *Plane) ComputeMass(density float64) float64

ComputeMass calculates mass data for the plane Planes are always static with infinite mass

func (*Plane) GetAABB 

func (p *Plane) GetAABB() AABB

func (*Plane) GetContactFeature 

func (p *Plane) GetContactFeature(direction mgl64.Vec3, output *[8]mgl64.Vec3, count *int)

The narrow phase has specific code path for planes, this should not be called

func (*Plane) Support 

func (p *Plane) Support(direction mgl64.Vec3) mgl64.Vec3

For simplicity, we use a 10000 width/height box. Can obviously break for bigger planes

type PlaneContact 

type PlaneContact []ContactPoint

type RigidBody 

type RigidBody struct {
	// Useful to map to user data (e.g. entity id)
	Id any

	// Spatial properties
	PreviousTransform Transform
	Transform         Transform

	// Linear motion
	PresolveVelocity mgl64.Vec3
	Velocity         mgl64.Vec3 // Linear velocity (m/s)

	// Angular motion (NOUVEAU)
	PresolveAngularVelocity mgl64.Vec3
	AngularVelocity         mgl64.Vec3 // Vitesse de rotation (rad/s)
	// Inertia (NOUVEAU)
	InertiaLocal        mgl64.Mat3 // Tenseur d'inertie en espace local
	InverseInertiaLocal mgl64.Mat3

	IsTrigger  bool
	IsSleeping bool
	SleepTimer float64

	// Physical properties
	Material Material
	BodyType BodyType // Dynamic or Static

	// Collision shape
	Shape ShapeInterface // The collision shape

	Mutex sync.Mutex
	// contains filtered or unexported fields
}

RigidBody represents a rigid body in the physics simulation

func NewRigidBody 

func NewRigidBody(transform Transform, shape ShapeInterface, bodyType BodyType, density float64) *RigidBody

NewRigidBody creates a new rigid body with the given properties density is used to calculate mass for dynamic bodies (ignored for static)

func (*RigidBody) AddForce 

func (rb *RigidBody) AddForce(force mgl64.Vec3)

AddForce in 1000N (1000 * kg⋅m/s²)

func (*RigidBody) AddTorque 

func (rb *RigidBody) AddTorque(torque mgl64.Vec3)

AddTorque in 1000N⋅m

func (*RigidBody) ClearForces 

func (rb *RigidBody) ClearForces()

Méthodes optionnelles pour reset

func (*RigidBody) GetInertiaWorld 

func (rb *RigidBody) GetInertiaWorld() mgl64.Mat3

Inertie en espace monde

func (*RigidBody) GetInverseInertiaWorld 

func (rb *RigidBody) GetInverseInertiaWorld() mgl64.Mat3

Inverse de l'inertie en espace monde

func (*RigidBody) Integrate 

func (rb *RigidBody) Integrate(dt float64, gravity mgl64.Vec3)

func (*RigidBody) Sleep 

func (rb *RigidBody) Sleep()

func (*RigidBody) SupportWorld 

func (rb *RigidBody) SupportWorld(direction mgl64.Vec3) mgl64.Vec3

func (*RigidBody) TrySleep 

func (rb *RigidBody) TrySleep(dt float64, timethreshold float64, velocityThreshold float64) uint8

TrySleep check if a body can be set to sleep. returns 0 if no changes, 1 if set to sleep, 2 if waken

func (*RigidBody) Update 

func (rb *RigidBody) Update(dt float64)

func (*RigidBody) WakeUp 

func (rb *RigidBody) WakeUp()

type ShapeInterface 

type ShapeInterface interface {
	// ComputeAABB calculates the axis-aligned bounding box for the shape
	// at the given transform
	ComputeAABB(transform Transform)
	GetAABB() AABB
	// ComputeMass calculates mass data for the shape given a density
	ComputeMass(density float64) float64
	ComputeInertia(mass float64) mgl64.Mat3
	Support(direction mgl64.Vec3) mgl64.Vec3
	GetContactFeature(direction mgl64.Vec3, output *[8]mgl64.Vec3, count *int)
	CollideWithPlane(planeNormal mgl64.Vec3, planeDistance float64, myTransform Transform) (bool, PlaneContact)
}

ShapeInterface is the interface that all collision shapes must implement

type ShapeType 

type ShapeType int

ShapeType represents the type of collision shape 

const (
	ShapeTypeSphere ShapeType = iota
	ShapeTypeBox
	ShapeTypePlane
)

type Sphere 

type Sphere struct {
	Radius float64
	// contains filtered or unexported fields
}

Sphere represents a spherical collision shape

func (*Sphere) CollideWithPlane 

func (s *Sphere) CollideWithPlane(planeNormal mgl64.Vec3, planeDistance float64, myTransform Transform) (bool, PlaneContact)

func (*Sphere) ComputeAABB 

func (s *Sphere) ComputeAABB(transform Transform)

ComputeAABB calculates the axis-aligned bounding box for the sphere

func (*Sphere) ComputeInertia 

func (s *Sphere) ComputeInertia(mass float64) mgl64.Mat3

func (*Sphere) ComputeMass 

func (s *Sphere) ComputeMass(density float64) float64

ComputeMass calculates mass data for the sphere

func (*Sphere) GetAABB 

func (s *Sphere) GetAABB() AABB

func (*Sphere) GetContactFeature 

func (s *Sphere) GetContactFeature(direction mgl64.Vec3, output *[8]mgl64.Vec3, count *int)

func (*Sphere) Support 

func (s *Sphere) Support(direction mgl64.Vec3) mgl64.Vec3

type Transform 

type Transform struct {
	Position        mgl64.Vec3
	Rotation        mgl64.Quat
	InverseRotation mgl64.Quat
}

Transform represents a position in 3D space

func NewTransform 

func NewTransform() Transform

NewTransform creates an identity transform

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