rigidbody, forces and collision testing

2026-09-03 16:50:36 +02:00
parent cf1f083cc5
commit 815bd2d260
28 changed files with 1381 additions and 75 deletions
--- a/PhysicsEngine/Physics/WorldModel.cs
+++ b/PhysicsEngine/Physics/WorldModel.cs
@@ -0,0 +1,50 @@
+using System.Collections.Generic;
+
+namespace PhysicsEngine
+{
+    public class WorldModel
+    {
+        public List<Body> Bodies { get; private set; } = new();
+        public List<Constraint> Constraints { get; private set; } = new();
+        public List<GlobalForce> GlobalForces = new();
+
+        private readonly Solver _solver = new();
+
+        public WorldModel()
+        {
+            GlobalForces.Add(GravityForce.Apply);
+            //GlobalForces.Add(DragForce.Apply);
+        }
+
+        public void AddBody(Body body)
+        {
+            if (!Bodies.Contains(body))
+            {
+                Bodies.Add(body);
+            }
+        }
+
+        public void RemoveBody(Body body)
+        {
+            Bodies.Remove(body);
+        }
+
+        public void AddConstraint(Constraint constraint)
+        {
+            if (!Constraints.Contains(constraint))
+            {
+                Constraints.Add(constraint);
+            }
+        }
+
+        public void RemoveConstraint(Constraint constraint)
+        {
+            Constraints.Remove(constraint);
+        }
+
+        public void Step(float dt)
+        {
+            _solver.Step(dt, Bodies, Constraints, GlobalForces, 8);
+        }
+    }
+}