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Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer

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Tom Ray
2026-03-22 00:28:03 +01:00
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# Breaking API Changes
This document lists all breaking API changes by date and by release tag. Note that not all API changes are listed here, trivial changes (that cause a compile error and require an obvious fix) are not listed.
Changes that make some state saved through SaveBinaryState from a prior version of the library unreadable by the new version is marked as *SBS*. See [Saving Shapes](https://jrouwe.github.io/JoltPhysics/#saving-shapes) for further information.
## Changes between v5.4.0 and v5.5.0
* 20251206 - Renamed `JPH_CPU_ADDRESS_BITS` to `JPH_CPU_ARCH_BITS` because the size of a pointer can be different from the number of bits used by the architecture. (db654de2a6098fd1ad78cb9a3e70f6a8a61c00b5)
* 20251120 - Added BroadPhaseQuery::GetBounds, deprecated PhysicsSystem::GetBounds. (793b3a0dbd978552cc6bf68db1c473b32e8ba1ef)
## Changes between v5.3.0 and v5.4.0
* 20240529 - *SBS* - Added `SoftBodyCreationSettings::mFacesDoubleSided` which treats the faces of the soft body as double sided. This changes the binary serialization format. (3ad037b9262ba81bf7ceda10687f2a07da38f091)
* 20240529 - *SBS* - WheelSettingsTV and WheelSettingsWV were not serializing their base class members. This changes the binary serialization format. (cfefdc669291bd25dd168af95fb32515cc05a78b)
* 20250523 - *SBS* - `SoftBodySharedSettings::mVertexRadius` was moved to `SoftBodyCreationSettings::mVertexRadius`, this also changes the serialization format of soft bodies. (f3d906f8c0a07a6993ecb2ff962c892a04843daa)
* 20250505 - The remap tables in `SoftBodySharedSettings::OptimizationResults` mapped from new to old index instead of from old to new as was documented. The maps now behave as documented. (1ee6eb2f059dab839b0bde02b3c455a7bd24e533)
* 20250505 - *SBS* - The `SoftBodySharedSettings` binary serialization format changed. (1ee6eb2f059dab839b0bde02b3c455a7bd24e533)
## Changes between v5.2.0 and v5.3.0
* 20250131 - `PhysicsSettings::mManifoldToleranceSq` is no longer squared and now called `mManifoldTolerance`. `ManifoldBetweenTwoFaces` now takes `inMaxContactDistance` instead of `inMaxContactDistanceSq`. (7611a4cb33b15fcb9108794ecb6fc5090470a438)
* 20250108 - `CharacterVirtual::Contact::mHadCollision` is now true for sensor contacts (`mIsSensorB`). Make sure you ignore all discarded contacts (`mWasDiscarded`) when using `CharacterVirtual::GetActiveContacts`. (0ce60932501cdadcb8b209b3e03c143fac4cbcd6)
* 20250108 - `CharacterContactListener` now has `OnContactPersisted`, `OnContactRemoved`, `OnCharacterContactPersisted` and `OnCharacterContactRemoved` functions. If you relied on `OnContactAdded`/`OnCharacterContactAdded` callbacks, you may want to call those functions from `OnContactPersisted`/`OnCharacterContactPersisted` to keep the behavior the same. (0ce60932501cdadcb8b209b3e03c143fac4cbcd6)
* 20241221 - `BodyInterface::AddForce` applied a force per soft body vertex rather than to the whole body, this resulted in a soft body accelerating much more compared to a rigid body of the same mass. If you are applying forces to soft bodies, you need to multiply the force by the number of vertices of the soft body to get the same effect as before. (7850b05a97d2079fc52e538507c843026a555ef3)
* 20241125 - *SBS* - Changed the binary serialization format of `MeshShape` to allow for bigger meshes of up to 110M triangles. (c738b3490c72cf868bdd704db7d0191b41541751)
* 20241119 - Removed the use of `std::unordered_map` and `std::unordered_set` and replaced them with our own implementation: `UnorderedMap` and `UnorderedSet`. The public facing interface includes some instances of these, e.g. `Shape::ShapeToIDMap`. Since these are typedeffed and the interface remained the same, applications should not notice the change. (f1420822d39c440492602b670eac8ae2f5821401)
## Changes between v5.1.0 and v5.2.0
* 20240927 - PhysicsStepListener::OnStep now takes a single PhysicsStepListenerContext parameter. The old parameters 'delta time' and 'physics system' are part of this context. The VehicleConstraint step callbacks use the same context. (8153cd854ce0547b2def425118e1e2f68a9e365c)
* 20240922 - SoftBodyManifold now has a separate interface to return collisions with sensors (GetNumSensorContacts/GetSensorContactBodyID), this means they can no longer be retrieved through GetContactBodyID. (4058e6a72edc6e11630b3ec6b67d97e2b9324473)
* 20240922 - The interface of Shape::CollideSoftBodyVertices changed. It no longer takes a list of SoftBodyVertex but instead uses CollideSoftBodyVertexIterator. Also the delta time and displacement due to gravity parameters have been removed. If you have custom shapes, you need to update the signature. (4058e6a72edc6e11630b3ec6b67d97e2b9324473)
* 20240825 - RayCastSettings::mBackFaceMode was split into mBackFaceModeTriangles and mBackFaceModeConvex. Replace `mBackFaceMode = ...` with `SetBackFaceMode(...)` (b3cd9f4846c52a84064b7e5e9a9a9fcbfdf286de)
* 20240823 - Added virtual function Shape::GetLeafShape. If you have custom shapes, you may need to override this function and provide an implementation. (d7f08b83670ea6d0842e231f50ad2a175f56f949)
## Changes between v5.0.0 and v5.1.0
* 20240811 - Added cmake options to toggle exception-handling and RTTI. CPP_EXCEPTIONS_ENABLED enables exceptions, CPP_RTTI_ENABLED enables RTTI. Before this change RTTI was off for MSVC and on for other compilers. Exceptions were on for all builds. You may need to set these options if your build relies on these C++ features. (760974d733ed24ea268a3bb9a8ef391b8ac503c7)
* 20240803 - *SBS* - Removed the use of size_t when saving to binary. This means that the 32 and 64 bit versions of the lib can now read each others streams and that the 64 bit version has been adjusted to match the 32 bit version. (b54a0849e01f9f793fef3a219dfabdc7559f71ed)
* 20240714 - The Reallocate function now takes an additional parameter 'old size' (6a7251d095f4c7e7c1c351d00829a20fa770246e)
* 20240517 - *SBS* - Combined a number of allocations into 1 for HeightFieldShape. This changes the binary serialization format for this class. (bd32df12bb8ab77b37eeedc226f368268c32ae17)
* 20240514 - Added macro JPH_OBJECT_STREAM that controls if ObjectStream is compiled or not. By default this is turned on, so you should not see a change, but if you compile without cmake you may need to define JPH_OBJECT_STREAM. (dc3ea787223d45855987e32b8bef7f9a59f6fcd2)
* 20240504 - Replaced std::vector with a custom Array class. It can be turned off by enabling the JPH_USE_STD_VECTOR define (or the USE_STD_VECTOR cmake option). (bdc1695a643457db86b72119b1393ae69b9a182e)
* 20240504 - Added a Reallocate function that needs to be implemented when you override the memory allocators and a reallocate function that you need to implement if you have a custom array allocator. The behavior is the same as the C realloc function. It is used to reallocate a block of memory for simple types instead of always going through a alloc, copy, free cycle. (bdc1695a643457db86b72119b1393ae69b9a182e)
* 20240413 - *SBS* - Skinned constraints are now processed in parallel, this means that they are reordered when Optimize() is called (see SoftBodySharedSettings::OptimizationResults::mSkinnedRemap). This also caused a change to the binary serialization format of SoftBodySharedSettings. (744900a4becb4dc69ee2bd70d6b26ee46da3e64a)
* 20240407 - *SBS* - The binary format of SoftBodySharedSettings changed due to an optimization pass. Also the results of the Optimize() call are no longer serialized when using an ObjectStream. Finally the Optimize() call will reorder the constraints (see SoftBodySharedSettings::OptimizationResults). (22739d900b4d92905ecccf2d81f18dece4a42595)
## Changes between v4.0.2 and v5.0.0
* 20240327 - *SBS* - SoftBodySharedSettings::CreateEdges was renamed to CreateConstraints and can now also create shear and bend constraints. This also breaks the serialization format for SoftBodySharedSettings. (8e4bf3fa03f59cff6af7394d69cdf62abaf7a1d2)
* 20240310 - *SBS* - Soft body skinned constraints now use a sphere as backstop instead of an infinite plane. This also breaks the serialization format for SoftBodySharedSettings. (17db6d3f245d2198319c3787f62498fe5935b7c8)
* 20240225 - *SBS* - Changes were made to SoftBodySharedSettings that break the binary serialization format of that class. (277b818ffefed4f15477ff1e6d0cc07065899903)
* 20240223 - Added ConvexShape::ESupportMode::Default. If you have custom convex shapes you need to handle this in ConvexShape::GetSupportFunction. (0f67cc2915c5e34a4a38480580dad73888a1952e)
* 20240216 - Restriction angular motion using EAllowedDOFs now works in world space rather than in local space. This change was made to be more in line with other physics engines and to fix some issues with constraints. If you need the old behavior then copy [this](https://github.com/jrouwe/JoltPhysics/blob/9631e217e54b8492ac36471f2aa966df40d6c2ad/Jolt/Physics/Body/MotionProperties.cpp#L33-L118) code into your own code base and call MotionProperties::SetInverseInertia(diagonal, rotation) where diagonal is called mInvInertiaDiagonal and rotation is called mInertiaRotation in the code snippet. (191536d51d71ee29147205aa09d1acab52789e5f)
* 20240210 - Fixed spelling error EPathRotationConstraintType::ConstaintToPath to EPathRotationConstraintType::ConstrainToPath (6c095bbf7906b01f427b52d43212f5ebf760fc81)
* 20240210 - Added extra parameter fraction hint to PathConstraintPath::GetClosestPoint. This can be used to speed up the search along the curve and to disambiguate fractions in case a path reaches the same point multiple times (i.e. a figure-8) (b91e729e6e2c34df16cc03f5ac3b3f6d3fa8b762)
* 20240203 - Longitudinal friction impulse for wheeled/tracked vehicles could become much higher than the calculated max because each iteration it was clamped to the max friction impulse which meant the total friction impulse could be PhysicsSettings::mNumVelocitySteps times too high. In case this breaks your vehicle, the new max tire impulse callback can be used to restore the old behavior, see [the vehicle constraint test](https://github.com/jrouwe/JoltPhysics/blob/a456b244aa2ad2ce0a8124d27823377ed0b1c4b4/Samples/Tests/Vehicle/VehicleConstraintTest.cpp#L156-L164). (a456b244aa2ad2ce0a8124d27823377ed0b1c4b4)
* 20240120 - *SBS* - Implemented enhanced internal edge removal algorithm. This breaks the binary serialization format for BodyCreationSettings. (94c1ad811b95c72f4d3bb6841c73c1c3461caa91)
* 20240113 - VehicleConstraint::CombineFunction now calculates both longitudinal and lateral friction in 1 call so there can be dependencies between the two. (d6ed5b3e7b22904af555088b6ae4770f8fb0e00f)
* 20240105 - CharacterVirtual will now receive an OnContactAdded callback when it collides with a sensor (but will have no further interaction). You may need to update the logic in your CharacterContactListener to ignore those contacts. (fb778c568d3ba14556559324671ffec172957f5c)
* 20240101 - Renamed SensorDetectsStatic to CollideKinematicVsNonDynamic and made it work for non-sensors. This means that kinematic bodies can now get collision callbacks when they collide with other static / kinematic objects. It can also affect the order in which bodies are passed in the ContactListener::OnContactValidate callback. (2d607c4161a65201d66558a2cc76d1265aea527e)
* 20231220 - *SBS* - Added ability to enable gyroscopic forces on BodyCreationSettings. This breaks the binary serialization format for this class. (9d7748eaa91341adc17554f32bf991bfed04e47e)
* 20231219 - *SBS* - Added a 'swing type' attribute to SixDOFConstraint and SwingTwistConstraint. This breaks the binary serialization format. (41016256e2cf1262ec05cff3cfa7645668ee0bf0)
* 20231208 - Changed the meaning of Constraint::mNumVelocity/PositionStepsOverride. Before the number of steps would be the maximum of all constraints and the default value, now an overridden value of 0 means that the constraint uses the default value, otherwise it will use the value as specified. This means that if all constraints in an island have a lower value than the default, we will now use the lower value instead of the default. (0771808a03b850d16f1c64156f0aee827ca3706b)
* 20231208 - *SBS* - Bodies can now also override the default number of solver iterations. This breaks the binary serialization format. (0771808a03b850d16f1c64156f0aee827ca3706b)
* 20231203 - VehicleConstraint::CombineFunction got two additional parameters to identify which wheel is requesting friction. (8d80155f93d0d0c3ffe3dd46550650b9c830d304)
## Changes between v4.0.0 and v4.0.2
* No breaking changes.
## Changes between v3.0.1 and v4.0.0
* 20231003 - *SBS* - Bug fix in serialization of SoftBodySharedSettings breaks binary serialization format. (ccb250747eee4dedebfa02d950775478fb52f786)
* 20230914 - Removed GetProcessorTicksPerSecond as it was not correctly implemented for all platforms. (d44f4bad0872075d5cef2779742c89203d4f4488)
* 20230819 - *SBS* - RagdollSettings got the ability to have constraints that do not follow the skeleton. This changes the binary serialization format for this class. (08fc49d2d7abfa1a69e21971785d37724c748bb6)
* 20230807 - Renamed ContactSettings::mRelativeSurfaceVelocity to mRelativeLinearSurfaceVelocity. (76b809ddb1abf96641acc587fffa70101323d323)
* 20230807 - *SBS* - PhysicsScene is now able to load/save soft bodies. This changes the binary serialization format. (779ba3673beebdc4021842516f4ff6aa7c1e09b4)
* 20230805 - Body::SaveState and MotionProperties::SaveState now only save the state that can be changed by the simulation. Configuration properties like friction, restitution etc. must be saved by the user if desired. (7ff50429abd53f1914fd25a9e80ff47f22bc9f0e)
* 20230801 - *SBS* - Constraint priority was added to all constraints which changes the binary serialization format. (e341bb3e959460fbe196032095c1ab0346d7e746)
* 20230704 - *SBS* - A new flag was added to BodyCreationSettings that changes the binary serialization format. (2dd3a033a41e422eb470484029324cc9bbaf0825)
* 20230629 - Fix for engine RPM being much higher than wheel RPM when measured at clutch. Before we were ignoring bake and wheel torques in engine RPM calculation. Now they're much closer but this unfortunately means that the simulation of the vehicle has changed and mainly the engine torque and clutch strength need to be re-tweaked. (b40090766c545a68dccfac76cde8c6345ca626a6)
* 20230623 - The parameter inIntegrationSubSteps was removed from PhysicsSystem::Update because more and more features didn't support it. If you were using it multiply inCollisionSteps with the value of inIntegrationSubSteps to get roughly the same behavior. (8fcc7a78ec051b215bf13b037b9f975baa803b6f)
* 20230618 - *SBS* - A new flag was added to BodyCreationSettings that changes the binary serialization format. (107b70c7585909f0757a62c318261a18d670ff97)
* 20230610 - A bug was fixed that causes the vehicle suspension to be weaker when driving over low mass objects. This also changes suspension behavior a bit when driving over static objects. (44b82e395697ea553574df3cd806ffe264bfa5c4)
* 20230609 - *SBS* - The MotorcycleController lean controller is now a full PID controller. This changes binary serialization format. (70e7bb3e5808dabc17ee38fb823fbfa7e9140a91)
* 20230609 - *SBS* - VehicleConstraint uses the new SpringSettings class as a member which contains the mFrequency and mDamping members. This requires minor code changes. (0da97d8f3345f14c5b4b0ee3571c05832c556f98)
* 20230609 - *SBS* - DistanceConstraintSettings, SliderConstraintSettings and MotorSettings now use the new SpringSettings class as a member which contains the mFrequency and mDamping members. This requires minor code changes. (3cabc057c1267fde288c1ab2a23076702c71eb79)
* 20230520 - A bug was fixed in CharacterVirtual that makes mPenetrationRecoverySpeed behave according to the documentation (1 = fully resolve collision in 1 update). With the bug the recovery was too little. If you want the penetration recovery to work as before with the bug multiply it by 1 / delta_time. (8dd93317d66a9a72d3afeff4ecb17c257a7e9d91)
* 20230420 - To support compiling Jolt as a shared library, the RTTI macros were changed to be able to specify if a symbol should be exported or not. If you're using Jolt's RTTI system in your own project you need to change e.g. JPH_DECLARE_RTTI_VIRTUAL(XXX) to JPH_DECLARE_RTTI_VIRTUAL(JPH_NO_EXPORT, XXX). (d2f1d97004d036c6f759203c42e264e401472037)
## Changes between v2.0.1 and v3.0.0
* 20230331 - *SBS* - Vehicle wheels now support specifying the steering axis and wheel forward and up axis separately. This breaks the serialization format and requires setting extra properties on the wheels. (4269d8bbc77b889552a842c2e8476ba7ffc6b9a1)
* 20230328 - Vehicle now supports suspension under an angle. The behavior of the suspension, even if it is under 90 degrees with the vehicle body, changed so this may require tweaking the spring constants. (172a99c718bded5faa169ac440517286684fa2f0)
* 20230316 - The signature of ShapeFilter changed and the ShouldCollide function is no longer called for triangles inside a mesh/heightfield shape (you can use CollisionCollector::AddHit to filter per triangle). The previous implementation didn't pass in enough context for the application to fully determine which sub shapes were colliding. See [#473](https://github.com/jrouwe/JoltPhysics/discussions/473) for more information. (bc4fa997f15f2953dc87ee5c1ba51ecf2077c287)
* 20230313 - VehicleCollisionTester::Collide parameter outSuspensionLength was returning suspension length + wheel radius, now it returns the suspension length. If you have your own implementation of VehicleCollisionTester you need to update your code. (fcd9cb0f1677709e30951f2748aefd5f72ffdae1)
* 20230212 - Sensors are now able to detect other Sensors, make sure you put sensors in an ObjectLayer that doesn't collide with other sensors if you want to preserve the old behavior. (a76f5891ee429ae4fcde659c19f1eb769f9d8a21)
* 20230205 - *SBS* - Added 'IsSensor' and 'UseManifoldReduction' to BodyCreationSettings::SaveBinaryState. (8f6f210f53fc71e43760e20aeb2eae28ea168f4b)
* 20221231 - ObjectLayerPairFilter and ObjectVsBroadPhaseLayerFilter are now objects instead of function pointers. (4315ad53e354f094f753664fcf7a52870f6915e4)
* 20221208 - ContactListener::OnContactValidate is reporting collisions relative to inBaseOffset. Add this to the contact point if you want world space positions. (428611482825e369e60e0a5daf17c69a4d0f2a6f)
* 20221204 - Changes related to double precision support for positions (a2c1c22059fa031faf0208258e654bcff79a63e4)
* In many places in the public API Vec3 has been replaced by RVec3 (a Vec3 of Real values which can either be double or float depending on if JPH_DOUBLE_PRECISION is defined). In the same way RMat44 replaces Mat44. When compiling in single precision mode (the default) you should not notice a change.
* Shape::GetSubmergedVolume now takes a plane that's relative to inCenterOfMassTransform instead of one in world space
* Many of the NarrowPhaseQuery and TransformedShape collision queries now have a 'base offset' that you need to specify. Go to [Big Worlds](https://jrouwe.github.io/JoltPhysics/#big-worlds) for more info.
* The NarrowPhaseQuery/TransformedShape CastRay / CastShape functions now take a RRayCast / RShapeCast struct as input. When compiling in single precision mode this is the same as a RayCast or ShapeCast so only the type name needs to be updated.
* If you implement your own TempAllocator and want to compile in double precision, make sure you align to JPH_RVECTOR_ALIGNMENT bytes (instead of 16)
* The SkeletonPose got a 'root offset' member, this means that the ragdoll will now make the joint transform of the first body zero and put that offset in the 'root offset'.
* ContactManifold now stores the contacts relative to mBaseOffset, the arrays containing the contact points have been renamed from mWorldSpaceContactPointsOn1/2 to mRelativeContactPointsOn1/2 to reflect this.
* The DebugRenderer::DrawLine function now takes RVec3Arg parameters instead of Float3 parameters.
* The format of a recording recorded with DebugRendererRecorder has changed, this invalidates any prior recordings.
* 20221128 - MotionProperties::SetMotionQuality has been removed because changing it for an active body could cause crashes. Use BodyInterface::SetMotionQuality instead. (64802d163a7336e60916365ad9bce764cec4ca70)
## Changes between v1.1.0 and v2.0.0
* 20221027 - *SBS* (vehicles only) - Rewrote engine model for wheeled vehicle. Before engine inertia was only used when the clutch was pressed, now it is always used, so you may want to use a lower value. The way torque is distributed over the wheels has also changed and may require tweaking the vehicle parameters. (5ac751cee9afcc097fd4f884308f5e4dc9fdaeaf)
* 20220903 - *SBS* - Added overrides for number of position/velocity solver iterations. Only affects serialization. (38ec33942ead4968a83409bd13d868f60e6397c4)
* 20220826 - *SBS* - Removed FixedConstraintSettings and SliderConstraintSettings SetPoint functions. If you were calling this function replace it by setting mAutoDetectPoint = true. (d16a0b05bfeed42b1618e3774a9c953e6922d22b)
* 20220614 - It is now possible to override the memory allocator, register the default using RegisterDefaultAllocator(). This means that the public API now takes STL containers that use a custom memory allocator so use Array instead of vector, UnorderedMap instead of unordered_map etc. If you're using placement new, add ```::``` in front of new. Define JPH_DISABLE_CUSTOM_ALLOCATOR to disable this new behavior (b68097f582148d6f66c18a6ff95c5ca9b40b48cc)
* 20220606 - *SBS* - The slider constraint now has frequency and damping for its limits (09d6d9d51c46fbd159bf98abfd43cc639f6c0403)
* 20220606 - *SBS* - The rack and pinion and gear constraints were added (09d6d9d51c46fbd159bf98abfd43cc639f6c0403)
* 20220517 - Note: Superseded by d16a0b05bfeed42b1618e3774a9c953e6922d22b. When constructing a FixedConstraint you now need to call FixedConstraintSettings::SetPoint to configure the point where the bodies attach (4f7c925c31f39eda1d8d68e4e72456b5def93d9b)
* 20220516 - Constraint::GetType was renamed to GetSubType, a new GetType function was introduced (3e2151a009e8f11ca724754b2bd25e14d2654fb6)
* 20220516 - *SBS* - Added possibility to save the current state of the physics world as a scene (3e2151a009e8f11ca724754b2bd25e14d2654fb6)
* 20220510 - Factory::sInstance must now be allocated by the application prior to calling RegisterTypes() and has changed to a pointer (3ca62973dae7cda7a9ceece698438a45b9ad1433)
* 20220503 - Unused function SerializableObject::OnLoaded was removed (388d47254a236c053a472e54c10b264765badc09)
* 20220502 - ContactConstraintManager::CombineFunction has additional parameters: the SubShapeIDs from both bodies (6b873563739dfd3d77263c2c50af2f3f418ec15b)
* 20220415 - Removed Body::GetDebugName / SetDebugName, keep this info in a lookaside table if you need it (6db4d3beac6760e55f65102db00f93dfbc56ac26)
* 20220406 - Renamed CollisionDispatch::sCastShapeVsShape to sCastShapeVsShapeLocalSpace (6ba21f50dcf17bd506080ec30759724a7f3097d8)
* 20220327 - Changed the default include path, ```#include <xxx>``` must be replaced by ```#include <Jolt/xxx>``` (06e9d17d385814cd24d3b77d689c0a29d854e194)
* 20220318 - Added support for SSE2. If you want to use later versions of SSE make sure you have JPH_USE_SSE4_1 and JPH_USE_SSE4_2 defined (28f363856a007d03f657e46e8f6d90ccd7c6487a)
* 20220303 - Note: Partially superseded by d16a0b05bfeed42b1618e3774a9c953e6922d22b. When constructing a SliderConstraint you now need to call SliderConstraintSettings::SetPoint to configure the point where the bodies attach. Also replace mSliderAxis = x with SetSliderAxis(x) (5a327ec182d0436d435c62d0bccb4e76c6324659)
* 20220228 - PointConstraint::mCommonPoint is now mPoint1 / mPoint2. Replace mCommonPoint = x with mPoint1 = mPoint2 = x (066dfb8940ba3e7dbf8ed47e9a1eeb194730e04b)
* 20220226 - ObjectToBroadPhaseLayer and BroadPhaseLayerToString changed to BroadPhaseLayerInterface, this makes mapping a broadphase layer to an object layer more flexible (36dd3f8c8c31ef1aeb7585b2b615c23bc8b76f13)
* 20220222 - Shape and body user data changed from void * / uint32 to uint64 (14e062ac96abd571c6eff5e40b1df4d8b2333f55)
## Changes between v1.0.0 and v1.1.0
* No breaking changes.
## Changes between v0.0.0 and v1.0.0
* 20220107 - PhysicsSettings::mBodyPairCacheCosMaxDeltaRotation was renamed to mBodyPairCacheCosMaxDeltaRotationDiv2
* 20211219 - *SBS* - Now storing 3 components for a Vec3 instead of 4 in SaveBinaryState (23c1b9d9029d74076c0549c8779b3b5ac2179ea3)
* 20211212 - Removed StatCollector (92a117e0f05a08de154e86d3cd0b354783aa5593)
* 20210711 - HeightFieldShapeSettings::mBlockSize is subdivided one more time at run-time, so this is effectively 2x the block size (2aa3b443bf71785616f3140c32e6a04c49516535)
* 20211106 - Mutex class now has its own implementation on Platform Blue, users must implement the JPH_PLATFORM_BLUE_MUTEX_* functions (a61dc67503a87ef0e190f7fb31d495ac51aa43de)
* 20211019 - ShapeCast::mShape no longer keeps a reference, the caller is responsible for keeping the reference now (e2bbdda9110b083b49ba323f8fd0d88c19847c2e)
* 20211004 - Removed RTTI from Shape class, use Shape::GetType / GetSubType now (6d5cafd53501c2c1e313f1b1f29d5161db074fd5)
* 20210930 - Changed RestoreMaterialState and RestoreSubShapeState to use pointers instead of vectors to allow loading shapes with fewer memory allocations (b8953791f35a91fcd12568c7dc4cc2f68f40fb3f)
* 20210918 - PhysicsSystem::Init takes an extra parameter to specify the amount of mutexes to use (ef371411af878023f062b9930db09f17411f01ba)
* 20210827 - BroadPhaseLayerPairFilter was changed to ObjectVsBroadPhaseLayerFilter to avoid testing too many layers during collision queries (33883574bbc6fe208a4b62054d00b582872da6f4)

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# Architecture of Jolt Physics {#architecture-jolt-physics}
# Getting Started {#getting-started}
To get started, look at the [HelloWorld](https://github.com/jrouwe/JoltPhysics/blob/master/HelloWorld/HelloWorld.cpp) example. A [HelloWorld example using CMake FetchContent](https://github.com/jrouwe/JoltPhysicsHelloWorld) is also available to show how you can integrate Jolt Physics in a CMake project.
Every feature in Jolt has its own sample. [Running the Samples application](Samples.md) and browsing through the [code](https://github.com/jrouwe/JoltPhysics/tree/master/Samples/Tests) is a great way to learn about the library!
The rest of this document describes the concepts used in Jolt in more detail.
# Bodies {#bodies}
We use a pretty traditional physics engine setup, so \ref Body "bodies" in our simulation are objects which have attached collision \ref Shape "shapes"
## Types {#body-types}
Bodies can either be:
- [static](@ref EMotionType) (not moving or simulating)
- [dynamic](@ref EMotionType) (moved by forces) or
- [kinematic](@ref EMotionType) (moved by velocities only).
Moving bodies have a [MotionProperties](@ref MotionProperties) object that contains information about the movement of the object. Static bodies do not have this to save space (but they can be configured to have it if a static body needs to become dynamic during its lifetime by setting [BodyCreationSettings::mAllowDynamicOrKinematic](@ref BodyCreationSettings::mAllowDynamicOrKinematic)).
## Creating Bodies {#creating-bodies}
Bodies are inserted into the [PhysicsSystem](@ref PhysicsSystem) and interacted with through the [BodyInterface](@ref BodyInterface).
The general life cycle of a body is:
- BodyInterface::CreateBody - Construct a Body object and initialize it. You cannot use `new` to create a Body.
- BodyInterface::AddBody - Add the body to the PhysicsSystem and make it participate in the simulation.
- BodyInterface::RemoveBody - Remove it from the PhysicsSystem.
- BodyInterface::DestroyBody - Deinitialize and destruct the Body. You cannot use `delete` to delete a Body. This function will not automatically remove the Body from the PhysicsSystem.
If you need to add many bodies at the same time then use the batching functions:
- BodyInterface::AddBodiesPrepare - Prepares bodies to be added to the PhysicsSystem. Doesn't affect simulation and can be done from a background thread.
- BodyInterface::AddBodiesFinalize - Finalize insertion. This atomically adds all bodies to the PhysicsSystem.
- BodyInterface::AddBodiesAbort - If you've called AddBodiesPrepare but changed your mind and no longer want to add the bodies to the PhysicsSystem. Useful when streaming in level sections and the player decides to go the other way.
- BodyInterface::RemoveBodies - Batch remove a lot of bodies from the PhysicsSystem.
Always use the batch adding functions when possible! Adding many bodies, one at a time, results in a really inefficient broadphase (a trace will notify when this happens) and in extreme cases may lead to the broadphase running out of internal nodes (std::abort will be called in that case). If you cannot avoid adding many bodies one at a time, use PhysicsSystem::OptimizeBroadPhase to rebuild the tree.
You can call AddBody, RemoveBody, AddBody, RemoveBody to temporarily remove and later reinsert a body into the simulation.
## Multithreaded Access {#multi-threaded-access}
Jolt is designed to be accessed from multiple threads so the body interface comes in two flavors: A locking and a non-locking variant. The locking variant uses a mutex array (a fixed size array of mutexes, bodies are associated with a mutex through hashing and multiple bodies use the same mutex, see [MutexArray](@ref MutexArray)) to prevent concurrent access to the same body. The non-locking variant doesn't use mutexes, so requires the user to be careful.
In general, body ID's ([BodyID](@ref BodyID)) are used to refer to bodies. You can access a body through the following construct:
JPH::BodyLockInterface lock_interface = physics_system.GetBodyLockInterface(); // Or GetBodyLockInterfaceNoLock
JPH::BodyID body_id = ...; // Obtain ID to body
// Scoped lock
{
JPH::BodyLockRead lock(lock_interface, body_id);
if (lock.Succeeded()) // body_id may no longer be valid
{
const JPH::Body &body = lock.GetBody();
// Do something with body
...
}
}
When another thread has removed the body between the time the body ID was obtained and the lock, the lock will fail. While the lock is taken, other threads cannot modify the body, so it is safe to work with it. Each body ID contains a sequence number, so body ID's will only be reused after many add/remove cycles. To write to a body use [BodyLockWrite](@ref BodyLockWrite).
You cannot use BodyLockRead to lock multiple bodies (if two threads lock the same bodies in opposite order you'll get a deadlock). Use [BodyLockMultiRead](@ref BodyLockMultiRead) or [BodyLockMultiWrite](@ref BodyLockMultiWrite) to lock them in a consistent order.
Note that a lot of convenience functions are exposed through the BodyInterface, but not all functionality is available, so you may need to lock the body to get the pointer and then call the function directly on the body.
## Single Threaded Access {#single-threaded-access}
If you're only accessing the physics system from a single thread, you can use Body pointers instead of BodyID's. In this case you can also use the non-locking variant of the body interface.
Note that there are still some restrictions:
* You cannot read from / write to bodies or constraints while PhysicsSystem::Update is running. As soon as the Update starts, all body / constraint mutexes are locked.
* Collision callbacks (see ContactListener) are called from within the PhysicsSystem::Update call from multiple threads. You can only read the body data during a callback.
* Activation callbacks (see BodyActivationListener) are called in the same way. Again you should only read the body during the callback and not make any modifications.
* Step callbacks (see PhysicsStepListener) are also called from PhysicsSystem::Update from multiple threads. You're responsible for making sure that there are no race conditions. In a step listener you can read/write bodies or constraints but you cannot add/remove them.
If you are accessing the physics system from multiple threads, you should probably use BodyID's and the locking variant of the body interface. It is however still possible to use Body pointers if you're really careful. E.g. if there is a clear owner of a Body and you ensure that this owner does not read/write state during PhysicsSystem::Update or while other threads are reading the Body there will not be any race conditions.
## Shapes {#shapes}
Each body has a shape attached that determines the collision volume. The following shapes are available (in order of computational complexity):
* [SphereShape](@ref SphereShape) - A sphere centered around zero.
* [BoxShape](@ref BoxShape) - A box centered around zero.
* [CapsuleShape](@ref CapsuleShape) - A capsule centered around zero.
* [TaperedCapsuleShape](@ref TaperedCapsuleShape) - A capsule with different radii at the bottom and top.
* [CylinderShape](@ref CylinderShape) - A cylinder shape. Note that cylinders are the least stable of all shapes, so use another shape if possible.
* [TaperedCylinderShape](@ref TaperedCylinderShape) - A cylinder with different radii at the bottom and top. Note that cylinders are the least stable of all shapes, so use another shape if possible.
* [ConvexHullShape](@ref ConvexHullShape) - A convex hull defined by a set of points.
* [TriangleShape](@ref TriangleShape) - A single triangle. Use a MeshShape if you have multiple triangles.
* [PlaneShape](@ref PlaneShape) - An infinite plane. Negative half space is considered solid.
* [StaticCompoundShape](@ref StaticCompoundShape) - A shape containing other shapes. This shape is constructed once and cannot be changed afterwards. Child shapes are organized in a tree to speed up collision detection.
* [MutableCompoundShape](@ref MutableCompoundShape) - A shape containing other shapes. This shape can be constructed/changed at runtime and trades construction time for runtime performance. Child shapes are organized in a list to make modification easy.
* [MeshShape](@ref MeshShape) - A shape consisting of triangles. They are mostly used for static geometry.
* [HeightFieldShape](@ref HeightFieldShape) - A shape consisting of NxN points that define the height at each point, very suitable for representing hilly terrain. Any body that uses this shape needs to be static.
* [EmptyShape](@ref EmptyShape) - A shape that collides with nothing and that can be used as a placeholder or for dummy bodies.
Next to this there are a number of decorator shapes that change the behavior of their children:
* [ScaledShape](@ref ScaledShape) - This shape can scale a child shape. Note that if a shape is rotated first and then scaled, you can introduce shearing which is not supported by the library.
* [RotatedTranslatedShape](@ref RotatedTranslatedShape) - This shape can rotate and translate a child shape, it can e.g. be used to offset a sphere from the origin.
* [OffsetCenterOfMassShape](@ref OffsetCenterOfMassShape) - This shape does not change its child shape but it does shift the calculated center of mass for that shape. It allows you to e.g. shift the center of mass of a vehicle down to improve its handling.
### Dynamic Mesh Shapes {#dynamic-mesh-shapes}
Meshes are usually static, but they can be made kinematic or dynamic provided that they don't collide with other mesh- or heightfield shapes (an assert will trigger when this happens and the collision will be ignored).
Mesh shapes also cannot calculate their mass and inertia, so when you want a dynamic mesh, you need to provide these yourself by setting BodyCreationSettings::mOverrideMassProperties = EOverrideMassProperties::MassAndInertiaProvided and supplying the mass and inertia in BodyCreationSettings::mMassPropertiesOverride.
An example can be found [here](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/General/DynamicMeshTest.cpp).
Note that you should try to avoid dynamic mesh shapes as they are fairly expensive to simulate. Also, mesh shapes don't have a clear inside/outside so a mesh is only considered to be colliding when one of its triangles intersect with the other object. This can result in objects getting stuck inside the mesh without knowing which way is out.
### Creating Shapes {#creating-shapes}
Simple shapes like spheres and boxes can be constructed immediately by simply new-ing them. Other shapes need to be converted into an optimized format in order to be usable in the physics simulation. The uncooked data is usually stored in a [ShapeSettings](@ref ShapeSettings) object and then converted to cooked format by a [Create](@ref ShapeSettings::Create) function that returns a [Result](@ref Result) object that indicates success or failure and provides the cooked object.
Creating a convex hull for example looks like:
// Shapes are refcounted and can be shared between bodies
JPH::Ref<Shape> shape;
// The ShapeSettings object is only required for building the shape, all information is copied into the Shape class
{
// Create an array of vertices
JPH::Array<JPH::Vec3> vertices = { ... };
// Create the settings object for a convex hull
JPH::ConvexHullShapeSettings settings(vertices, JPH::cDefaultConvexRadius);
// Create shape
JPH::Shape::ShapeResult result = settings.Create();
if (result.IsValid())
shape = result.Get();
else
... // Error handling
}
Note that after you call Create, the shape is cached and ShapeSettings keeps a reference to your shape (see @ref memory-management). If you call Create again, the same shape will be returned regardless of what changed to the settings object (unless you call [ClearCachedResult](@ref ShapeSettings::ClearCachedResult) to clear the cache).
### Saving Shapes {#saving-shapes}
There are two ways of serializing data:
* The uncooked data can be serialized using the [ObjectStream](@ref ObjectStream) system (either in [binary](@ref ObjectStreamBinaryOut) or in [text](@ref ObjectStreamTextOut) format), data stored in this way is likely to be compatible with future versions of the library (although there is no 100% guarantee of this).
* The cooked data can be serialized using the [SaveBinaryState](@ref Shape::SaveBinaryState) interface that various objects provide. Data stored in this way is optimized for simulation performance and loading speed but is very likely to change between versions of the library, so this should never be your primary data format.
An example of saving a shape in binary format:
// Create a sphere of radius 1
JPH::Ref<Shape> sphere = new JPH::SphereShape(1.0f);
// For this example we'll be saving the shape in a STL string stream, but if you implement StreamOut you don't have to use STL.
// Note that this will be storing a binary string of bytes that can contain 0-bytes, it is not an ASCII string!
stringstream data;
JPH::StreamOutWrapper stream_out(data);
// Save the shape (note this function handles CompoundShape too).
// The maps are there to avoid saving the same shape twice (it will assign an ID to each shape the first time it encounters them).
// If you don't want certain shapes to be saved, add them to the map and give them an ID.
// You can save many shapes to the same stream by repeatedly calling SaveWithChildren on different shapes.
JPH::Shape::ShapeToIDMap shape_to_id;
JPH::Shape::MaterialToIDMap material_to_id;
sphere->SaveWithChildren(stream_out, shape_to_id, material_to_id);
// Wrap the STL stream in a StreamIn
JPH::StreamInWrapper stream_in(data);
// Load the shape
// If you have assigned custom ID's on save, you need to ensure that the shapes exist in this map on restore too.
JPH::Shape::IDToShapeMap id_to_shape;
JPH::Shape::IDToMaterialMap id_to_material;
JPH::Shape::ShapeResult result = JPH::Shape::sRestoreWithChildren(stream_in, id_to_shape, id_to_material);
JPH::Ref<Shape> restored_shape;
if (result.IsValid())
restored_shape = result.Get();
else
... // Error handling
As the library does not offer an exporter from content creation packages and since most games will have their own content pipeline, we encourage you to store data in your own format, cook data while cooking the game data and store the result using the SaveBinaryState interface (and provide a way to force a re-cook when the library is updated).
A possible pattern for serializing binary data in your own engine could be:
* EngineBody at runtime creates a Body. Note that the prefix 'Engine' means that it's a class in your own engine.
* It links to an EngineShape, which wraps a Shape.
* EngineShape comes in different flavors, e.g. EngineMeshShape, EngineSphereShape etc.
* EngineMeshShape contains the uncompressed mesh data (in a format that's editable in your tools).
* When 'cooking' the game data:
* Create a MeshShape.
* Save it using Shape::SaveWithChildren in a binary blob that's associated with the EngineMeshShape (could be in an attribute that's an array of bytes).
* Throw away the uncompressed mesh data.
* When loading the EngineMeshShape using your own serialization system, also restore the MeshShape from the binary blob using Shape::sRestoreWithChildren.
* Your serialization system should take care that the pointer between EngineBody and EngineShape is restored.
* There are some tricks for sharing Shapes, e.g. an EngineCompoundShape links to multiple child EngineShapes:
* At cooking time create a StaticCompoundShape.
* Before writing the shape to the binary blob with Shape::SaveWithChildren it inserts all leaf shapes (the Shape associated with the child EngineShape) in the Shape::ShapeToIDMap so they won't be included in the binary blob.
* Before loading the binary blob with Shape::sRestoreWithChildren prepopulate the Shape::IDToShapeMap with the pointers to the restored Shape's from the child EngineShapes (this again assumes that your own serialization system is capable of restoring the pointers between EngineCompoundShape and the child EntityShapes).
### Convex Radius {#convex-radius}
In order to speed up the collision detection system, all convex shapes use a convex radius. The provided shape will first be shrunken by the convex radius and then inflated again by the same amount, resulting in a rounded off shape:
![In this example a box (green) was created with a fairly large convex radius. The shape is shrunken first (dashed green line) and then inflated again equally on all sides. The resulting shape as seen by the collision detection system is shown in blue. A larger convex radius results in better performance but a less accurate simulation. A convex radius of 0 is allowed.](Images/ConvexRadius.jpg)
### Center of Mass {#center-of-mass}
__Beware: When a shape is created, it will automatically recenter itself around its center of mass.__ The center of mass can be obtained by calling [Shape::GetCenterOfMass](@ref Shape::GetCenterOfMass) and most functions operate in this Center of Mass (COM) space. Some functions work in the original space the shape was created in, they usually have World Space (WS) or Shape Space (SS) in their name (or documentation).
![Shape Center of Mass](Images/ShapeCenterOfMass.jpg)
As an example, say we create a box and then translate it:
// Create box of 2x2x2 m (you specify half the side)
JPH::BoxShapeSettings box(JPH::Vec3(1, 1, 1));
JPH::Ref<Shape> box_shape = box.Create().Get();
// Offset it by 10 m
JPH::RotatedTranslatedShapeSettings translated_box(JPH::Vec3(10, 0, 0), JPH::Quat::sIdentity(), box_shape);
JPH::Ref<Shape> translated_box_shape = translated_box.Create().Get();
// Cast a ray against the offset box (WRONG!)
JPH::RayCast ray;
ray.mOrigin = JPH::Vec3(10, 2, 0);
ray.mDirection = JPH::Vec3(0, -2, 0);
// Cast ray
JPH::RayCastResult hit;
bool had_hit = translated_box_shape->CastRay(ray, JPH::SubShapeIDCreator(), hit);
JPH_ASSERT(!had_hit); // There's no hit because we did not correct for COM!
// Convert the ray to center of mass space for the shape (CORRECT!)
ray.mOrigin -= translated_box_shape->GetCenterOfMass();
// Cast ray
had_hit = translated_box_shape->CastRay(ray, JPH::SubShapeIDCreator(), hit);
JPH_ASSERT(had_hit); // Ray was in COM space, now there's a hit!
In the same way calling:
translated_box_shape->GetLocalBounds();
will return a box of size 2x2x2 centered around the origin, so in order to get it back to the space in which it was originally created you need to offset the bounding box:
JPH::AABox shape_bounds = translated_box_shape->GetLocalBounds();
shape_bounds.Translate(translated_box_shape->GetCenterOfMass());
JPH_ASSERT(shape_bounds == JPH::AABox(JPH::Vec3(9, -1, -1), JPH::Vec3(11, 1, 1))); // Now we have the box relative to how we created it
Note that when you work with interface of [BroadPhaseQuery](@ref BroadPhaseQuery), [NarrowPhaseQuery](@ref NarrowPhaseQuery) or [TransformedShape](@ref TransformedShape) this transformation is done for you.
### Scaling Shapes {#scaling-shapes}
Shapes can be scaled using the [ScaledShape](@ref ScaledShape) class. You can scale a shape like:
JPH::RefConst<Shape> my_scaled_shape = new JPH::ScaledShape(my_non_scaled_shape, JPH::Vec3(x_scale, y_scale, z_scale));
Not all scales are valid for every shape. Use Shape::IsValidScale to check if a scale is valid for a particular shape (the documentation for this function also lists the rules for all shape types).
A safer way of scaling shapes is provided by the Shape::ScaleShape function:
JPH::Shape::ShapeResult my_scaled_shape = my_non_scaled_shape->ScaleShape(JPH::Vec3(x_scale, y_scale, z_scale));
This function will check if a scale is valid for a particular shape and if a scale is not valid, it will produce the closest scale that is valid.
For example, if you scale a CompoundShape that has rotated sub shapes, a non-uniform scale would cause shearing. In that case the Shape::ScaleShape function will create a new compound shape and scale the sub shapes (losing the shear) rather than creating a ScaledShape around the entire CompoundShape.
Updating scaling after a body is created is also possible, but should be done with care. Imagine a sphere in a pipe, scaling the sphere so that it becomes bigger than the pipe creates an impossible situation as there is no way to resolve the collision anymore.
Please take a look at the [DynamicScaledShape](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/ScaledShapes/DynamicScaledShape.cpp) demo. The reason that no ScaledShape::SetScale function exists is to ensure thread safety when collision queries are being executed while shapes are modified.
Note that there are many functions that take a scale in Jolt (e.g. CollisionDispatch::sCollideShapeVsShape), usually the shape is scaled relative to its center of mass. The Shape::ScaleShape function scales the shape relative to the origin of the shape.
### Creating Custom Shapes {#creating-custom-shapes}
If the defined Shape classes are not sufficient, or if your application can make a more efficient implementation because it has specific domain knowledge, it is possible to create a custom collision shape:
* Derive a new class from Shape (e.g. MyShape). If your shape is convex you can consider deriving from ConvexShape, if it contains multiple sub shapes you can derive from CompoundShape or if it wraps a single other shape it can be derived from DecoratedShape.
* Create a settings class that configures your shape (e.g. MyShapeSettings) and inherit it from the corresponding settings class (e.g. ShapeSettings, CompoundShapeSettings or DecoratedShapeSettings).
* Override the ```MyShapeSettings::Create``` function to construct an instance of MyShape.
* If you want to serialize the settings class, register it with the factory: ```Factory::sInstance->Register(RTTI_OF(MyShapeSettings))```
* If you inherited from Shape you need to select a shape type, use e.g. ```EShapeType::User1```
* In all cases you will need to specify a sub shape type, use e.g. ```EShapeSubType::User1```
* If you inherited from ConvexShape you can also specify a convex sub shape type, e.g. ```EShapeSubType::UserConvex1```, in which case you don't need to implement or register the collision detection functions mentioned below.
* Implement the virtual functions that your selected base class exposes. Some functions could be implemented as a dummy if you don't care about the functionality, e.g. if you don't care about buoyancy then GetSubmergedVolume does not need to be implemented.
* Create a ```MyShape::sRegister()``` function to register all collision functions, make sure you call this function after calling ```RegisterTypes()```, see [MeshShape::sRegister](@ref MeshShape::sRegister) for an example.
* Now write collision detection functions to test collision with all other shape types that this shape could collide with and register them with [CollisionDispatch::sRegisterCollideShape](@ref CollisionDispatch::sRegisterCollideShape) and [CollisionDispatch::sRegisterCastShape](@ref CollisionDispatch::sRegisterCastShape). This can be a lot of work, but there are some helper functions that you can use to reduce the work:
* If you have implemented a collision test for type A vs B then you can register [CollisionDispatch::sReversedCastShape](@ref CollisionDispatch::sReversedCastShape) and [CollisionDispatch::sReversedCollideShape](@ref CollisionDispatch::sReversedCollideShape) for B vs A.
* If your shape is triangle based, you can forward the testing of a shape vs a single triangle to the [CollideConvexVsTriangles](@ref CollideConvexVsTriangles) and [CastConvexVsTriangles](@ref CastConvexVsTriangles) classes.
* If your shape contains sub shapes and you have determined that the shape intersects with one of the sub shapes you can forward the sub shape to the collision dispatch again through [CollisionDispatch::sCollideShapeVsShape](@ref CollisionDispatch::sCollideShapeVsShape) and [CollisionDispatch::sCastShapeVsShapeLocalSpace](@ref CollisionDispatch::sCastShapeVsShapeLocalSpace).
## Sensors {#sensors}
Sensors are normal rigid bodies that report contacts with other Dynamic or Kinematic bodies through the [ContactListener](@ref ContactListener) interface. Any detected penetrations will however not be resolved. Sensors can be used to implement triggers that detect when an object enters their area.
The cheapest sensor has a Static motion type. This type of sensor will only detect active bodies entering their area. As soon as a body goes to sleep, the contact will be lost. Note that you can still move a Static sensor around using [BodyInterface::SetPosition](@ref BodyInterface::SetPosition).
When you make a sensor Kinematic or Dynamic and activate it, it will also detect collisions with sleeping bodies, albeit with a higher run-time cost.
To create a sensor, either set [BodyCreationSettings::mIsSensor](@ref BodyCreationSettings::mIsSensor) to true when constructing a body or set it after construction through [Body::SetIsSensor](@ref Body::SetIsSensor). A sensor can only use the discrete motion quality type at this moment.
To make sensors detect collisions with static objects, set the [BodyCreationSettings::mCollideKinematicVsNonDynamic](@ref BodyCreationSettings::mCollideKinematicVsNonDynamic) to true or call [Body::SetCollideKinematicVsNonDynamic](@ref Body::SetCollideKinematicVsNonDynamic). Note that it can place a large burden on the collision detection system if you have a large sensor intersect with e.g. a large mesh terrain or a height field as you will get many contact callbacks and these contacts will take up a lot of space in the contact cache. Ensure that your sensor is in an object layer that collides with as few static bodies as possible.
To temporarily disable a sensor, choose between:
* Remove the sensor by calling BodyInterface::RemoveBody and re-add it later again with BodyInterface::AddBody.
* Change the collision layer using BodyInterface::SetObjectLayer to a layer that doesn't collide with anything (possibly also in a BroadPhaseLayer that doesn't collide with anything)
## Sleeping {#sleeping-bodies}
During the simulation step, bodies are divided in 'islands'. Each island consists of a set of dynamic bodies that are either in contact with each other, or that are connected through a constraint:
![Simulation islands are enclosed by a red box. Note that the floor is static so not part of an island.](Images/SimulationIsland.jpg)
At the end of each step, all the bodies in an island are checked to see if they have come to rest, if this is the case then the entire island is put to sleep. When a body is sleeping, it can still detect collisions with other objects that are not sleeping, but it will not move or otherwise participate in the simulation to conserve CPU cycles. Sleeping bodies wake up automatically when they're in contact with non-sleeping objects or they can be explicitly woken through an API call like BodyInterface::ActivateBody. Unlike some other physics engines, removing a Body from the world doesn't wake up any surrounding bodies. If you want this you can call BodyInterface::ActivateBodiesInAABox with the bounding box of the removed body (or the combined bounding box if you're removing multiple bodies). Also, things like setting the velocity through Body::SetLinearVelocity will not wake up the Body, use BodyInterface::SetLinearVelocity instead. You can configure the definition of a body 'at rest' through PhysicsSettings::mTimeBeforeSleep and PhysicsSettings::mPointVelocitySleepThreshold.
## Soft Bodies {#soft-bodies}
Soft bodies (also known as deformable bodies) can be used to create e.g. a soft ball or a piece of cloth. They are created in a very similar way to normal rigid bodies:
* First allocate a new SoftBodySharedSettings object on the heap. This object will contain the initial positions of all particles and the constraints between the particles. This object can be shared between multiple soft bodies and should remain constant during its lifetime.
* Then create a SoftBodyCreationSettings object (e.g. on the stack) and fill in the desired properties of the soft body.
* Finally construct the body and add it to the world through BodyInterface::CreateAndAddSoftBody.
Soft bodies use the Body class just like rigid bodies but can be identified by checking Body::IsSoftBody. To get to the soft body state, cast the result of Body::GetMotionProperties to SoftBodyMotionProperties and use its API.
Soft bodies try to implement as much as possible of the normal Body interface, but this interface provides a simplified version of reality, e.g. Body::GetLinearVelocity will return the average particle speed and Body::GetPosition returns the average particle position. During simulation, a soft body will never update its rotation. Internally it stores particle velocities in local space, so if you rotate a soft body e.g. by calling BodyInterface::SetRotation, the body will rotate but its velocity will as well.
### Soft Body Contact Listeners {#soft-body-contact-listener}
Soft Bodies provide contacts with other bodies through the SoftBodyContactListener class. This contact listener works a little bit different from the normal contact listener as you will not receive a contact callback per colliding vertex.
After the broad phase has detected an overlap and the normal layer / collision group filters have had a chance to reject the collision, you will receive a SoftBodyContactListener::OnSoftBodyContactValidate callback. This callback allows you to specify how the vertices of the soft body should interact with the other body. You can override the mass for both bodies and you can turn the contact into a sensor contact.
The simulation will then proceed to do all collision detection and response and after that is finished, you will receive a SoftBodyContactListener::OnSoftBodyContactAdded callback that allows you to inspect all collisions that happened during the simulation step. In order to do this a SoftBodyManifold is provided which allows you to loop over the vertices and ask each vertex what it collided with.
Note that at the time of the callback, multiple threads are operating at the same time. The soft body is stable and can be safely read. The other body that is collided with is not stable however, so you cannot safely read its position/orientation and velocity as it may be modified by another soft body collision at the same time.
### Skinning Soft Bodies {#skinning-soft-bodies}
Using the [skinning](@ref SoftBodySharedSettings::Skinned) constraints, a soft body can be (partially) skinned to joints. This can be used e.g. to partially drive cloth with a character animation. The [vertices](@ref SoftBodySharedSettings::Vertex::mPosition) of the soft body need to be placed in the neutral pose of the character and the joints for this pose need to be calculated in model space (relative to these vertices). The inverted matrices of this neutral pose need to be stored as the [inverse bind matrices](@ref SoftBodySharedSettings::InvBind) and the skinning constraints can then be [weighted](@ref SoftBodySharedSettings::SkinWeight) to these joints. SoftBodySharedSettings::CalculateSkinnedConstraintNormals must be called to gather information needed to calculate the face normals at run-time.
At run-time, you need to provide the animated joints every simulation step through the SoftBodyMotionProperties::SkinVertices call. During simulation, each skinned vertex will calculate its position and this position will be used to limit the movement of its simulated counterpart.
![A Skinned Constraint](Images/SoftBodySkinnedConstraint.jpg)
The adjacent faces of the soft body will be used to calculate the normal of each vertex (shown in red), the vertex is then free to move inside the sphere formed by the skinned vertex position with radius [MaxDistance](@ref SoftBodySharedSettings::Skinned::mMaxDistance) (green sphere). To prevent the vertex from intersecting with the character, it is possible to specify a [BackStopDistance](@ref SoftBodySharedSettings::Skinned::mBackStopDistance) and [BackStopRadius](@ref SoftBodySharedSettings::Skinned::mBackStopRadius), together these form the red sphere. The vertex is not allowed to move inside this sphere.
### Soft Body Work In Progress {#soft-body-wip}
Soft bodies are currently in development, please note the following:
* Soft bodies can only collide with rigid bodies, collisions between soft bodies are not implemented yet.
* AddTorque/SetLinearVelocity/SetLinearVelocityClamped/SetAngularVelocity/SetAngularVelocityClamped/AddImpulse/AddAngularImpulse have no effect on soft bodies as the velocity is stored per particle rather than per body.
* Buoyancy calculations have not been implemented yet.
* Constraints cannot operate on soft bodies, set the inverse mass of a particle to zero and move it by setting a velocity to constrain a soft body to something else.
* When calculating friction / restitution an empty SubShapeID will be passed to the ContactConstraintManager::CombineFunction because this is called once per body pair rather than once per sub shape as is common for rigid bodies.
# Constraints {#constraints}
Bodies can be connected to each other using constraints ([Constraint](@ref Constraint)).
The following constraints are available:
* [FixedConstraint](@ref FixedConstraintSettings) - Will attach a body to another without any degrees of freedom.
* [DistanceConstraint](@ref DistanceConstraintSettings) - Will attach two bodies with a stick (removing 1 degree of freedom).
* [PointConstraint](@ref PointConstraintSettings) - Will attach two bodies in a single point (removing 3 degrees of freedom)
* [HingeConstraint](@ref HingeConstraintSettings) - Will attach two bodies through a hinge.
* [ConeConstraint](@ref ConeConstraintSettings) - Attaches two bodies in a point and will limit the rotation within a cone.
* [SliderConstraint](@ref SliderConstraintSettings) - Attaches two bodies and allows only movement in a single translation axis (also known as prismatic constraint).
* [SwingTwistConstraint](@ref SwingTwistConstraintSettings) - Attaches two bodies using a point constraint and a swing-twist constraint which approximates the shoulder joint of a human.
* [SixDOFConstraint](@ref SixDOFConstraintSettings) - The most configurable joint allows specifying per translation axis and rotation axis what the limits are.
* [PathConstraint](@ref PathConstraintSettings) - This constraint allows attaching two bodies connected through a Hermite spline path.
* [GearConstraint](@ref GearConstraintSettings) - This constraint connects to two hinge joints and constrains them to connect two gears.
* [RackAndPinionConstraint](@ref RackAndPinionConstraintSettings) - This constraint connects a hinge and a slider constraint to connect a rack and pinion.
* [PulleyConstraint](@ref PulleyConstraintSettings) - This constraint connects two bodies through two fixed points creating something that behaves like two bodies connected through a rope.
* [VehicleConstraint](@ref VehicleConstraintSettings) - This constraint adds virtual wheels or tracks to a body and allows it to behave as a vehicle.
If you want to constrain a dynamic object to the unmovable 'world' you can use [Body::sFixedToWorld](@ref Body::sFixedToWorld) instead of creating a static body.
Bodies do not keep track of the constraints that are connected to them. This means that you're responsible for removing any constraints attached to a body before removing the body from the PhysicsSystem.
Adding and removing constraints can be done from multiple threads, but the constraints themselves do not have any protection against concurrent access. We assume that constraints are owned by some object (e.g. a Ragdoll) and that object ensures that it only modifies its own constraints and contains its own synchronization logic. Constraints can be freely modified except during the physics simulation step.
Contact constraints (when bodies collide) are not handled through the [Constraint](@ref Constraint) class but through the [ContactConstraintManager](@ref ContactConstraintManager) which is considered an internal class.
## Constraint Motors {#constraint-motors}
Most of the constraints support motors (see [MotorSettings](@ref MotorSettings)) which allow you to apply forces/torques on two constrained bodies to drive them to a relative position/orientation. There are two types of motors:
* Linear motors: These motors drive the relative position between two bodies. A linear motor would, for example, slide a body along a straight line when you use a slider constraint.
* Angular motors: These motors drive the relative rotation between two bodies. An example is a hinge constraint. The motor drives the rotation along the hinge axis.
Motors can have three states (see [EMotorState](@ref EMotorState) or e.g. SliderConstraint::SetMotorState):
* Off: The motor is not doing any work.
* Velocity: This type of motor drives the relative velocity between bodies. For a slider constraint, you would push the bodies towards/away from each other with constant velocity. For a hinge constraint, you would rotate the bodies relative to each other with constant velocity. Set the target velocity through e.g. SliderConstraint::SetTargetVelocity / HingeConstraint::SetTargetAngularVelocity.
* Position: This type of motor drives the relative position between bodies. For a slider constraint, you can specify the relative distance you want to achieve between the bodies. For a hinge constraint you can specify the relative angle you want to achieve between the bodies. Set the target position through e.g. SliderConstraint::SetTargetPosition / HingeConstraint::SetTargetAngle.
Motors apply a force (when driving position) or torque (when driving angle) every simulation step to achieve the desired velocity or position. You can control the maximum force/torque that the motor can apply through MotorSettings::mMinForceLimit, MotorSettings::mMaxForceLimit, MotorSettings::mMinTorqueLimit and MotorSettings::mMaxTorqueLimit. Note that if a motor is driving to a position, the torque limits are not used. If a constraint is driving to an angle, the force limits are not used.
Usually the limits are symmetric, so you would set -mMinForceLimit = mMaxForceLimit. This way the motor can push at an equal rate as it can pull. If you would set the range to e.g. [0, FLT_MAX] then the motor would only be able to push in the positive direction. The units for the force limits are Newtons and the values can get pretty big. If your motor doesn't seem to do anything, chances are that you have set the value too low. Since Force = Mass * Acceleration you can calculate the approximate force that a motor would need to supply in order to be effective. Usually the range is set to [-FLT_MAX, FLT_MAX] which lets the motor achieve its target as fast as possible.
For an angular motor, the units are Newton Meters. The formula is Torque = Inertia * Angular Acceleration. Inertia of a solid sphere is 2/5 * Mass * Radius^2. You can use this to get a sense of the amount of torque needed to get the angular acceleration you want. Again, you'd usually set the range to [-FLT_MAX, FLT_MAX] to not limit the motor.
When settings the force or torque limits to [-FLT_MAX, FLT_MAX] a velocity motor will accelerate the bodies to the desired relative velocity in a single time step (if no other forces act on those bodies).
Position motors have two additional parameters: Frequency (MotorSettings::mSpringSettings.mFrequency, Hz) and damping (MotorSettings::mSpringSettings.mDamping, no units). They are implemented as described in [Soft Constraints: Reinventing The Spring - Erin Catto - GDC 2011](https://box2d.org/files/ErinCatto_SoftConstraints_GDC2011.pdf).
You can see a position motor as a spring between the target position and the rigid body. The force applied to reach the target is linear with the distance between current position and target position. When there is no damping, the position motor will cause the rigid body to oscillate around its target.
![A rigid body on a slider constraint. The body starts at 1 and is driven to 0 with a position motor. Two different motor frequencies are shown. The higher the frequency, the faster the motor will reach its target, but without damping it will overshoot and oscillate forever.](Images/MotorFrequency.jpg)
Valid frequencies are in the range (0, 0.5 * simulation frequency]. A frequency of 0 results in no force being applied, a frequency larger than half of the physics simulation frequency will result in instability. For a 60 Hz physics simulation, 20 is a good value for a stiff spring (without damping it will reach its target in 1/(4 * 20) = 0.0125 s), 2 is good for a soft spring (will reach its target in 1/(4 * 2) = 0.125 s).
In order to prevent the motor from overshooting its target, we use damping.
![A rigid body on a slider constraint. The body starts at 1 and is driven to 0 with a position motor. The frequency of the motor is 2 Hz and the lines correspond to different damping values.](Images/MotorDamping.jpg)
Sensible values for damping are [0, 1] but higher values are also possible. When the damping is below 1, the body will still oscillate around its target, but that oscillation will die out. When the damping is 1 (called critical damping) there is no oscillation at all but it will take longer for the motor to reach its target. When damping is bigger than 1, the system is over dampened. There will not be any oscillation, but it will take even longer for the motor to reach its target.
Because Jolt Physics uses a Symplectic Euler integrator, there will still be a small amount of damping when damping is 0, so you cannot get infinite oscillation (allowing this would make it very likely for the system to become unstable).
## Breakable Constraints {#breakable-constraints}
Constraints can be turned on / off by calling Constraint::SetEnabled. After every simulation step, check the total 'lambda' applied on each constraint and disable the constraint if the value goes over a certain threshold. Use e.g. SliderConstraint::GetTotalLambdaPosition / HingeConstraint::GetTotalLambdaRotation. You can see 'lambda' as the linear/angular impulse applied at the constraint in the last physics step to keep the constraint together.
# Collision Detection {#collision-detection}
Collision detection can be performed through various interfaces:
* Coarse collision detection against the world, using only the bounding box of each body is done through the BroadPhaseQuery interface (see PhysicsSystem::GetBroadPhaseQuery).
* Detailed collision detection against the world is done through NarrowPhaseQuery interface (see PhysicsSystem::GetNarrowPhaseQuery).
* Checking collisions with a single body is done through TransformedShape (see Body::GetTransformedShape)
* Checking collisions against a single shape is done through various interfaces on the Shape class (see e.g. Shape::CastRay) or through the CollisionDispatch interface.
The most common collision tests are:
* Casting a ray: BroadPhaseQuery::CastRay, NarrowPhaseQuery::CastRay, TransformedShape::CastRay, Shape::CastRay.
* Colliding a shape (e.g. a sphere) in a static position: NarrowPhaseQuery::CollideShape, TransformedShape::CollideShape, CollisionDispatch::sCollideShapeVsShape.
* Casting a shape (sweeping it from a start to an end position and finding collisions along the way): NarrowPhaseQuery::CastShape, TransformedShape::CastShape, CollisionDispatch::sCastShapeVsShapeWorldSpace.
* Checking if a shape contains a point: BroadPhaseQuery::CollidePoint, NarrowPhaseQuery::CollidePoint, TransformedShape::CollidePoint, Shape::CollidePoint.
The following sections describe the collision detection system in more detail.
## Broad Phase {#broad-phase}
When bodies are added to the PhysicsSystem, they are inserted in the broad phase ([BroadPhaseQuadTree](@ref BroadPhaseQuadTree)). This provides quick coarse collision detection based on the axis aligned bounding box (AABB) of a body.
![To quickly test if two objects overlap you can check if their axis aligned bounding boxes overlap. If they do, a check between the actual shapes is needed to be sure.](Images/EllipsoidAABB.png)
Our broad phase is a quad tree, which means each node has 4 children. In the following image you see a random collection of spheres and triangles and a possible way to split the tree.
![QuadTree Example](Images/QuadTreeExample.png)
At the highest level we split all objects in 4 mostly disjoint sets. Note that nodes are allowed to overlap, but for efficiency reasons we want the amount of overlap to be minimal. The example split here is indicated by a red, blue, green and yellow box and you can see them appear in the tree on the right. Three out of four nodes: blue, yellow and red, have 4 or less shapes in them, so the tree can directly point at the shapes rather than at a next node. One node: green, has more than 4 shapes in it so needs a further split. The three shapes can be added directly to the node and we need to create a new node, dotted green, to hold the last two shapes. The reason why we pick 4 children is that modern CPUs support doing 4 math operations in a single instruction, so when we walk the tree from top to bottom during a collision query, we can handle 4 children at the same time and quickly get to a minimal set of colliding objects.
Since we want to access bodies concurrently the broad phase has special behavior. When a body moves, all nodes in the AABB tree from root to the node where the body resides will be expanded using a lock-free approach. This way multiple threads can move bodies at the same time without requiring a lock on the broad phase. Nodes that have been expanded are marked and during the next physics step a new tight-fitting tree will be built in the background while the physics step is running. This new tree will replace the old tree before the end of the simulation step. This is possible since no bodies can be added/removed during the physics step. For more information about this see the [GDC 2022 talk](https://jrouwe.nl/architectingjolt/ArchitectingJoltPhysics_Rouwe_Jorrit_Notes.pdf).
The broad phase is divided in layers (BroadPhaseLayer), each broad phase layer has an AABB quad tree associated with it. A standard setup would be to have at least 2 broad phase layers: One for all static bodies (which is infrequently updated but is expensive to update since it usually contains most bodies) and one for all dynamic bodies (which is updated every simulation step but cheaper to update since it contains fewer objects). In general you should only have a few broad phase layers as there is overhead in querying and maintaining many different broad phase trees.
When doing a query against the broad phase ([BroadPhaseQuery](@ref BroadPhaseQuery)), you generally will get a body ID for intersecting objects. If a collision query takes a long time to process the resulting bodies (e.g. across multiple simulation steps), you can safely keep using the body ID's as specified in the @ref bodies section.
## Narrow Phase {#narrow-phase}
A narrow phase query ([NarrowPhaseQuery](@ref NarrowPhaseQuery)) will first query the broad phase for intersecting bodies and will under the protection of a body lock construct a transformed shape ([TransformedShape](@ref TransformedShape)) object. This object contains the transform, a reference counted shape and a body ID. Since the shape will not be deleted until you destroy the TransformedShape object, it is a consistent snapshot of the collision information of the body. This ensures that the body is only locked for a short time frame and makes it possible to do the bulk of the collision detection work outside the protection of a lock.
For very long running jobs (e.g. navigation mesh creation) it is possible to query all transformed shapes in an area and then do the processing work using a long running thread without requiring additional locks (see [NarrowPhaseQuery::CollectTransformedShapes](@ref NarrowPhaseQuery::CollectTransformedShapes)).
The narrow phase queries are all handled through the [GJK](@ref GJKClosestPoint) and [EPA](@ref EPAPenetrationDepth) algorithms.
## Collision Filtering {#collision-filtering}
Each Body is in an [ObjectLayer](@ref ObjectLayer). If two object layers don't collide, the bodies inside those layers cannot collide. You can define object layers in any way you like, it could be a simple number from 0 to N or it could be a bitmask. Jolt supports 16 or 32 bit ObjectLayers through the JPH_OBJECT_LAYER_BITS define and you're free to define as many as you like as they don't incur any overhead in the system.
When constructing the PhysicsSystem you need to provide a number of filtering interfaces:
* BroadPhaseLayerInterface: This class defines a mapping from ObjectLayer to BroadPhaseLayer through the BroadPhaseLayerInterface::GetBroadPhaseLayer function. Each Body can only be in 1 BroadPhaseLayer so an ObjectLayer maps to 1 BroadphaseLayer. In general there will be multiple ObjectLayers mapping to the same BroadPhaseLayer (because each broad phase layer comes at a cost). If there are multiple object layers in a single broad phase layer, they are stored in the same tree. When a query visits the tree it will visit all objects whose AABB overlaps with the query and only when the overlap is detected, the actual object layer will be checked. This means that you should carefully design which object layers end up in which broad phase layer, balancing the requirement of having few broad phase layers with the number of needless objects that are visited because multiple object layers share the same broad phase layer. You can define JPH_TRACK_BROADPHASE_STATS to let Jolt print out some statistics about the query patterns your application is using. In general it is wise to start with only 2 broad phase layers as listed in the \ref broad-phase section.
* ObjectVsBroadPhaseLayerFilter: This class defines a ObjectVsBroadPhaseLayerFilter::ShouldCollide function that checks if an ObjectLayer collides with objects that reside in a particular BroadPhaseLayer. ObjectLayers can collide with as many BroadPhaseLayers as needed, so it is possible for a collision query to visit multiple broad phase trees.
* ObjectLayerPairFilter: This class defines a ObjectLayerPairFilter::ShouldCollide function that checks if an ObjectLayer collides with another ObjectLayer.
As an example we will use a simple enum as ObjectLayer:
* NON_MOVING - Layer for all static objects.
* MOVING - Layer for all regular dynamic bodies.
* DEBRIS - Layer for all debris dynamic bodies, we want to test these only against the static geometry because we want to save some simulation cost.
* BULLET - Layer for high detail collision bodies that we co-locate with regular dynamic bodies. These are bodies that are not used for simulation but are moved to follow the dynamic bodies and provide more precise geometry for ray tests to simulate shooting bullets. See [Level of Detail](@ref level-of-detail) for more information.
* WEAPON - This is a query layer so we don't create any bodies with this layer but we use it when doing ray cast querying for our weapon system.
We define the following object layers to collide:
* MOVING vs NON_MOVING, MOVING vs MOVING - These are for our regular dynamic objects that need to collide with the static world and with each other.
* DEBRIS vs NON_MOVING - As said, we only want debris to collide with the static world and not with anything else.
* WEAPON vs BULLET, WEAPON vs NON_MOVING - We want our weapon ray cast to hit the high detail BULLET collision instead of the normal MOVING collision and we want bullets to be blocked by the static world (obviously the static world could also have a high detail version, but not in this example).
This means that we need to implement a ObjectLayerPairFilter::ShouldCollide that returns true for the permutations listed above. Note that if ShouldCollide(A, B) returns true, ShouldCollide(B, A) should return true too.
We define the following broad phase layers:
* BP_NON_MOVING - For everything static (contains object layer: NON_MOVING).
* BP_MOVING - The default layer for dynamic objects (contains object layers: MOVING, BULLET).
* BP_DEBRIS - An extra layer that contains only debris (contains object layers: DEBRIS).
This means we now implement a BroadPhaseLayerInterface::GetBroadPhaseLayer that maps: NON_MOVING -> BP_NON_MOVING, MOVING -> BP_MOVING, BULLET -> BP_MOVING and DEBRIS -> BP_DEBRIS. We can map WEAPON to anything as we won't create any objects with this layer.
We also need to implement a ObjectVsBroadPhaseLayerFilter::ShouldCollide that determines which object layer should collide with what broad phase layers, these can be deduced from the two lists above:
* NON_MOVING: BP_MOVING, BP_DEBRIS
* MOVING: BP_NON_MOVING, BP_MOVING
* DEBRIS: BP_NON_MOVING
* BULLET: None (these are not simulated so need no collision with other objects)
* WEAPON: BP_NON_MOVING, BP_MOVING
So you can see now that when we simulate DEBRIS we only need to visit a single broad phase tree to check for collision, we did this because in our example we know that there are going to be 1000s of debris objects so it is important that their queries are as fast as possible. We could have moved the BULLET layer to its own broad phase layer too because now BP_MOVING contains a lot of bodies that WEAPON is not interested in, but in this example we didn't because we know that there are not enough of these objects for this to be a performance problem.
For convenience two filtering implementations are provided:
* ObjectLayerPairFilterTable, ObjectVsBroadPhaseLayerFilterTable and BroadPhaseLayerInterfaceTable: These three implement collision layers as a simple table. You construct ObjectLayerPairFilterTable with a fixed number of object layers and then call ObjectLayerPairFilterTable::EnableCollision or ObjectLayerPairFilterTable::DisableCollision to selectively enable or disable collisions between layers. BroadPhaseLayerInterfaceTable is constructed with a number of broad phase layers. You can then map each object layer to a broad phase layer through BroadPhaseLayerInterfaceTable::MapObjectToBroadPhaseLayer.
* ObjectLayerPairFilterMask, ObjectVsBroadPhaseLayerFilterMask and BroadPhaseLayerInterfaceMask: These split an ObjectLayer in an equal amount of bits for group and mask. Two objects collide if (object1.group & object2.mask) != 0 && (object2.group & object1.mask) != 0. This behavior is similar to e.g. Bullet. In order to map groups to broad phase layers, you call BroadPhaseLayerInterfaceMask::ConfigureLayer for each broad phase layer. You determine which groups can be put in that layer and which group must be excluded from that layer. E.g. a broad phase layer could include everything that has the STATIC group but should exclude everything that has the SENSOR group, so that if an object has both STATIC and SENSOR bits set, this broad phase layer will not be used. The broad phase layers are checked one by one and the first one that meets the condition is the one that the body will be put in. If you use this implementation, consider setting the cmake option OBJECT_LAYER_BITS to 32 to get a 32-bit ObjectLayer instead of a 16-bit one.
Now that we know about the basics, we list the order in which the collision detection pipeline goes through the various collision filters:
![Collision engine flow.](Images/CollisionFlow.jpg)
* Broadphase layer: At this stage, the object layer is tested against the broad phase trees that are relevant by checking the [ObjectVsBroadPhaseLayerFilter](@ref ObjectVsBroadPhaseLayerFilter).
* Object layer: Once the broad phase layer test succeeds, we will test object layers vs object layers through [ObjectLayerPairFilter](@ref ObjectLayerPairFilter) (used for simulation) and [ObjectLayerFilter](@ref ObjectLayerFilter) (used for collision queries). The default implementation of ObjectLayerFilter is DefaultObjectLayerFilter and uses ObjectLayerPairFilter so the behavior is consistent between simulation and collision queries.
* [GroupFilter](@ref GroupFilter): Used only during simulation and runs after bounding boxes have found to be overlapping. Allows you fine tune collision e.g. by discarding collisions between bodies connected by a constraint. See e.g. [GroupFilterTable](@ref GroupFilterTable) which implements filtering for bodies within a ragdoll.
* [BodyFilter](@ref BodyFilter): This filter is used instead of the group filter if you do collision queries like CastRay.
* Shape filter: This filter is used both during queries ([ShapeFilter](@ref ShapeFilter)) and simulation ([SimShapeFilter](@ref SimShapeFilter)) and can be used to filter out individual shapes of a compound. To set the shape filter for the simulation use PhysicsSystem::SetSimShapeFilter.
* [ContactListener](@ref ContactListener): During simulation, after all collision detection work has been performed you can still choose to discard a contact point. This is a very expensive way of rejecting collisions as most of the work is already done.
To avoid work, try to filter out collisions as early as possible.
## Level of Detail {#level-of-detail}
Bodies can only exist in a single layer. If you want a body with a low detail collision shape for simulation (in the example above: MOVING layer) and a high detail collision shape for collision detection (BULLET layer), you'll need to create 2 Bodies.
The low detail body should be dynamic. The high detail body should be kinematic, or if it doesn't interact with other dynamic objects it can also be static.
After calling PhysicsSystem::Update, you'll need to loop over these dynamic bodies and call BodyInterface::MoveKinematic in case the high detail body is kinematic, or BodyInterface::SetPositionAndRotation in case the high detail body is static.
Alternatively, you can put a high detail and a low detail shape in a StaticCompoundShape and use PhysicsSystem::SetSimShapeFilter to filter out the high detail shape during simulation.
Another ShapeFilter would filter out the low detail shape during collision queries (e.g. through NarrowPhaseQuery).
You can use Shape::GetUserData to determine if a shape is a high or a low detail shape.
## Continuous Collision Detection {#continuous-collision-detection}
Each body has a motion quality setting ([EMotionQuality](@ref EMotionQuality)). By default the motion quality is [Discrete](@ref EMotionQuality::Discrete). This means that at the beginning of each simulation step we will perform collision detection and if no collision is found, the body is free to move according to its velocity. This usually works fine for big or slow moving objects. Fast and small objects can easily 'tunnel' through thin objects because they can completely move through them in a single time step. For these objects there is the motion quality [LinearCast](@ref EMotionQuality::LinearCast). Objects that have this motion quality setting will do the same collision detection at the beginning of the simulation step, but once their new position is known, they will do an additional CastShape to check for any collisions that may have been missed. If this is the case, the object is placed back to where the collision occurred and will remain there until the next time step. This is called 'time stealing' and has the disadvantage that an object may appear to move much slower for a single time step and then speed up again. The alternative, back stepping the entire simulation, is computationally heavy so was not implemented.
![With the Discrete motion quality the blue object tunnels through the green object in a single time step. With motion quality LinearCast it doesn't.](Images/MotionQuality.jpg)
Fast rotating long objects are also to be avoided, as the LinearCast motion quality will fully rotate the object at the beginning of the time step and from that orientation perform the CastShape, there is a chance that the object misses a collision because it rotated through it.
![Even with the LinearCast motion quality the blue object rotates through the green object in a single time step.](Images/LongAndThin.jpg)
## Ghost Collisions {#ghost-collisions}
A ghost collision can occur when a body slides over another body and hits an internal edge of that body. The most common case is where a body hits an edge of a triangle in a mesh shape but it can also happen on 2 box shapes as shown below.
![A blue box sliding over 2 green boxes. Because the blue box can sink into the green box a little bit, it can hit the edge between the two boxes. This will cause the box to stop or jump up.](Images/GhostCollision.jpg)
There are a couple of ways to avoid ghost collisions in Jolt. MeshShape and HeightFieldShape keep track of active edges during construction.
![An inactive edge (concave) and an active edge (convex, angle > threshold angle).](Images/ActiveEdge.jpg)
Whenever a body hits an inactive edge, the contact normal is the face normal. When it hits an active edge, it can be somewhere in between the connecting face normals so the movement of the body is impeded in the scenario below.
![Contact normal (red) of hitting an active vs an inactive edge.](Images/ActiveVsInactiveContactNormal.jpg)
By tweaking MeshShapeSettings::mActiveEdgeCosThresholdAngle or HeightFieldShapeSettings::mActiveEdgeCosThresholdAngle you can determine the angle at which an edge is considered an active edge. By default this is 5 degrees, making this bigger reduces the amount of ghost collisions but can create simulation artifacts if you hit the edge straight on.
To further reduce ghost collisions, you can turn on BodyCreationSettings::mEnhancedInternalEdgeRemoval. When enabling this setting, additional checks will be made at run-time to detect if an edge is active or inactive based on all of the contact points between the two bodies. Beware that this algorithm only considers 2 bodies at a time, so if the two green boxes above belong to two different bodies, the ghost collision can still occur. Use a StaticCompoundShape to combine the boxes in a single body to allow the system to eliminate ghost collisions between the blue and the two green boxes. You can also use this functionality for your custom collision tests by making use of InternalEdgeRemovingCollector.
# Character Controllers {#character-controllers}
The [Character](@ref Character) and [CharacterVirtual](@ref CharacterVirtual) classes can be used to create a character controller. These are usually used to represent the player as a simple capsule or tall box and perform collision detection while the character navigates through the world.
The Character class is the simplest controller and is essentially a rigid body that has been configured to only allow translation (and no rotation so it stays upright). It is simulated together with the other rigid bodies so it properly reacts to them. Because it is simulated, it is usually not the best solution for a player as the player usually requires a lot of behavior that is non-physical. This character controller is cheap so it is recommended for e.g. simple AI characters. After every PhysicsSystem::Update call you must call Character::PostSimulation to update the ground contacts.
Characters are usually driven in a kinematic way (i.e. by calling Character::SetLinearVelocity or CharacterVirtual::SetLinearVelocity before their update).
The CharacterVirtual class is much more advanced. It is implemented using collision detection functionality only (through NarrowPhaseQuery) and is simulated when CharacterVirtual::Update is called. Since the character is not 'added' to the world, it is not visible to rigid bodies and it only interacts with them during the CharacterVirtual::Update function by applying impulses. This does mean there can be some update order artifacts, like the character slightly hovering above an elevator going down, because the characters moves at a different time than the other rigid bodies. Separating it has the benefit that the update can happen at the appropriate moment in the game code. Multiple CharacterVirtuals can update concurrently, so it is not an issue if the game code is parallelized.
CharacterVirtual has the following extra functionality:
* Sliding along walls
* Interaction with elevators and moving platforms
* Enhanced steep slope detection (standing in a funnel whose sides are too steep to stand on will not be considered as too steep)
* Stair stepping through the CharacterVirtual::ExtendedUpdate call
* Sticking to the ground when walking down a slope through the CharacterVirtual::ExtendedUpdate call
* Support for specifying a local coordinate system that allows e.g. [walking around in a flying space ship](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Character/CharacterSpaceShipTest.cpp) that is equipped with 'inertial dampers' (a sci-fi concept often used in games).
CharacterVirtual should provide everything that Character provides. Since it is not a rigid body, it requires some extra consideration:
* Collision callbacks are passed through the CharacterContactListener instead of the ContactListener class
* CharacterVirtual vs sensor contacts are also passed through this listener, you will not receive them through the regular ContactListener
* CharacterVirtual vs CharacterVirtual collisions can be handled through the CharacterVsCharacterCollision interface
* Collision checks (e.g. CastRay) do not collide with CharacterVirtual. Use e.g. `NarrowPhaseQuery::CastRay(..., collector)` followed by `CharacterVirtual::GetTransformedShape().CastRay(..., collector)` to include the collision results.
You can create a hybrid between these two by setting CharacterVirtualSettings::mInnerBodyShape. This will create an inner rigid body that follows the movement of the CharacterVirtual. This inner rigid body will be detected by sensors and regular collision tests.
To get started take a look at the [Character](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Character/CharacterTest.cpp) and [CharacterVirtual](https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Character/CharacterVirtualTest.cpp) examples.
# The Simulation Step {#the-simulation-step}
The simulation step [PhysicsSystem::Update](@ref PhysicsSystem::Update) uses jobs ([JobSystem](@ref JobSystem)) to perform the needed work. This allows spreading the workload across multiple CPU's. We use a Sequential Impulse solver with warm starting as described in [Modeling and Solving Constraints - Erin Catto](https://box2d.org/files/ErinCatto_ModelingAndSolvingConstraints_GDC2009.pdf)
Each physics step can be divided into multiple collision steps. So if you run the simulation at 60 Hz with 2 collision steps we run:
* Collision (1/120s)
* Integration (1/120s)
* Collision (1/120s)
* Integration (1/120s)
In general, the system is stable when running at 60 Hz with 1 collision step.
# Conventions and Limits {#conventions-and-limits}
Jolt Physics uses a right handed coordinate system with Y-up. It is easy to use another axis as up axis by changing the gravity vector using [PhysicsSystem::SetGravity](@ref PhysicsSystem::SetGravity). Some shapes like the [HeightFieldShape](@ref HeightFieldShapeSettings) will need an additional [RotatedTranslatedShape](@ref RotatedTranslatedShapeSettings) to rotate it to the new up axis and vehicles ([VehicleConstraint](@ref VehicleConstraintSettings)) and characters ([CharacterBaseSettings](@ref CharacterBaseSettings)) will need their new up-axis specified too.
We use column-major vectors and matrices, this means that to transform a point you need to multiply it on the right hand side: TransformedPoint = Matrix * Point.
Note that the physics simulation works best if you use SI units (meters, radians, seconds, kg). In order for the simulation to be accurate, dynamic objects should be in the order [0.1, 10] meters long, have speeds in the order of [0, 500] m/s and have gravity in the order of [0, 10] m/s^2. Static object should be in the order [0.1, 2000] meter long. If you are using different units, consider scaling the objects before passing them on to the physics simulation.
# Big Worlds {#big-worlds}
By default the library compiles using floats. This means that the simulation gets less accurate the further you go from the origin. If all simulation takes place within roughly 5 km from the origin, floating point precision is accurate enough.
If you have a bigger world, you may want to compile the library using the JPH_DOUBLE_PRECISION define. When you do this, all positions will be stored as doubles, which will make the simulation accurate even at thousands of kilometers away from the origin.
Calculations with doubles are much slower than calculations with floats. A naive implementation that changes all calculations to doubles has been measured to run more than 2x slower than the same calculations using floats. Because of this, Jolt Physics will only use doubles where necessary and drop down to floats as soon as possible. In order to do this, many of the collision query functions will need a 'base offset'. All collision results will be returned as floats relative to this base offset. By choosing the base offset wisely (i.e. close to where collision results are expected) the results will be accurate. Make sure your base offset is not kilometers away from the collision result.
Keep in mind that:
* There are a lot of 'epsilons' in the code that have been tuned for objects of sizes/speeds as described in the @ref conventions-and-limits section. Try to keep the individual objects to the specified scale even if they're really far from the origin.
* When the collision results of a single query are kilometers apart, precision will suffer as they will be far away from the 'base offset'.
* The effectiveness of the broad phase (which works in floats) will become less at large distances from the origin, e.g. at 10000 km from the origin, the resolution of the broad phase is reduced to 1 m which means that everything that's closer than 1 m will be considered colliding. This will not impact the quality of the simulation but it will result in extra collision tests in the narrow phase so will hurt performance.
Because of the minimal use of doubles, the simulation runs 5-10% slower in double precision mode compared to float precision mode.
# Space Simulations {#space-simulations}
There are a number of things that make Jolt not immediately suitable for space simulations:
* The broadphase uses floats internally so will become less accurate at large distances from the origin. This limits its efficiency.
* Jolt stores velocities in floats, so the large velocities that are common in space will become inaccurate. This will especially be visible if you create an object with constraints (e.g. a ragdoll) and make it move at high speeds. The relative velocities between the bodies will be too low for a float to represent accurately, which means that the constraints will not be solved properly.
* Rotations (Quat) are tracked in floats. If you intend to rotate a planet and expect objects on the surface of the planet to stay on the surface, you'll run into accuracy issues. For this reason it is not possible to rotate a RVec3 by a Quat.
It is possible to work around this limitations to create a space simulation with Jolt as [X4 Foundations](https://store.steampowered.com/app/392160/X4_Foundations/) has demonstrated.
First of all, everything mentioned in the @ref big-worlds section is applicable.
Secondly, split the universe into multiple PhysicsSystems and keep objects in each PhysicsSystem close to the origin and with low velocities. E.g.:
* A ship that is traveling near light speed can happen in a PhysicsSystem that is traveling at near light speed. The ship would be near static in this PhysicsSystem so that any constrained parts move at low velocities. Note that Jolt will be unaware of the speed of the PhysicsSystem.
* A planet exists in its own PhysicsSystem where it is static. Rotation of the planet around its axis or around its sun is not modeled in Jolt but applied as an additional matrix transform when rendering the world. This has the advantage that the objects on the planet are completely static so that there is no constant overhead of updating the transforms of bodies.
* Consider representing objects at different scales in different ways. E.g. a ship can be simplified to a simple shape when flying through an asteroid field, this means it can move at much higher speeds while still providing reasonably accurate collision than when it consists of multiple bodies connected with constraints.
The consequence of this approach is that objects may need to be moved between PhysicsSystems as e.g. a ship enters the atmosphere of a planet. You can use Body::GetBodyCreationSettings to get the settings of a Body and create it in the other world in the normal way. For Constraints there is Constraint::GetConstraintSettings.
# Deterministic Simulation {#deterministic-simulation}
The physics simulation is deterministic provided that:
* The APIs that modify the simulation are called in exactly the same order. For example, bodies and constraints need to be added/removed/modified in exactly the same order so that the state at the beginning of a simulation step is exactly the same for both simulations ([exceptions](@ref sloppy-determinism)).
* The same binary code is used to run the simulation. For example, when you run the simulation on Windows it doesn't matter if you have an AMD or Intel processor.
If you want cross platform determinism then please turn on the CROSS_PLATFORM_DETERMINISTIC option in CMake. This will make the library approximately 8% slower but the simulation will be deterministic regardless of:
* Compiler used to compile the library (tested MSVC2022, clang, gcc and emscripten)
* Configuration (Debug, Release or Distribution)
* OS (tested Windows, macOS, Linux)
* Architecture (x86 or ARM).
Some caveats:
* The same source code must be used to compile the library on all platforms.
* The source code must be compiled with the same defines, e.g. you can't have one platform using JPH_DOUBLE_PRECISION and another not.
* Broadphase queries (BroadPhaseQuery) are NOT deterministic because the broad phase can be modified from multiple threads. As bodies are modified, their bounding boxes get widened until the next maintenance update. This may be several calls to PhysicsSystem::Update later. If you want to do a broadphase query determinisically then create a custom CollisionCollector that in its AddHit function repeats the query against the actual bounding box of the body (Body::GetWorldSpaceBounds) and accept only hits that collide with this bounding box. Also ensure that you order the results consistently.
* Narrowphase queries (NarrowPhaseQuery) will return consistent results, but the order in which the results are received can change. This is again due the fact that the broadphase can be modified from multiple threads.
It is quite difficult to verify cross platform determinism, so this feature is less tested than other features. With every build, the following architectures are verified to produce the same results:
* Windows MSVC x86 64-bit with AVX2
* Windows MSVC x86 32-bit with SSE2
* macOS clang ARM 64-bit with NEON
* Linux clang x86 64-bit with AVX2
* Linux clang ARM 64-bit with NEON
* Linux clang ARM 32-bit
* Linux gcc x86 64-bit with AVX2
* Linux gcc ARM 64-bit with NEON
* Linux gcc RISC-V 64-bit
* Linux gcc PowerPC (Little Endian) 64-bit
* Linux gcc LoongArch 64-bit
* WASM32 emscripten running in nodejs
* WASM64 emscripten running in nodejs
The most important things to look out for in your own application:
* Compile your application mode in Precise mode (clang: -ffp-model=precise, MSVC: /fp:precise)
* Turn off floating point contract operations (clang: -ffp-contract=off)
* Make sure the FPU state is consistent across platforms / threads. Check the floating point rounding behavior (should be nearest). Check that the denormals are zero (DAZ) and flush to zero (FTZ) flags are set consistently.
* Do not use the standard trigonometry functions (`sin`, `cos` etc.) as they have different implementations on different platforms, use Jolt's functions ([Sin](@ref Sin), [Cos](@ref Cos) etc.).
* Do not use `std::sort` as it has a different implementation on different platforms, use [QuickSort](@ref QuickSort) instead.
* Do not use `std::push_heap` and `std::pop_heap` as it has a different implementation on different platforms when elements are equal, use [BinaryHeapPush](@ref BinaryHeapPush)/[BinaryHeapPop](@ref BinaryHeapPop) instead.
* Do not use `std::hash` as it is also platform dependent, use [Hash](@ref Hash) instead.
When running the Samples Application you can press ESC, Physics Settings and check the 'Check Determinism' checkbox. Before every simulation step we will record the state using the [StateRecorder](@ref StateRecorder) interface, rewind the simulation and do the step again to validate that the simulation runs deterministically. Some of the tests (e.g. the MultiThreaded) test will explicitly disable the check because they randomly add/remove bodies from different threads. This violates the rule that the API calls must be done in the same order so will not result in a deterministic simulation.
# Rolling Back a Simulation {#rolling-back-a-simulation}
When synchronizing two simulations via a network, it is possible that a change that needed to be applied at frame N is received at frame N + M. This will require rolling back the simulation to the state of frame N and repeating the simulation with the new inputs. This can be implemented by saving the physics state using [SaveState](@ref PhysicsSystem::SaveState) at every frame. To roll back, call [RestoreState](@ref PhysicsSystem::RestoreState) with the state at frame N. SaveState only records the state that the physics engine modifies during its update step (positions, velocities etc.), so if you change anything else you need to restore this yourself. E.g. if you did a [SetFriction](@ref Body::SetFriction) on frame N + 2 then, when rewinding, you need to restore the friction to what is was on frame N and update it again on frame N + 2 when you replay. If you start adding/removing objects (e.g. bodies or constraints) during these frames, the RestoreState function will not work. If you added a body on frame N + 1, you'll need to remove it when rewinding and then add it back on frame N + 1 again (with the proper initial position/velocity etc. because it won't be contained in the snapshot at frame N). The [SaveState](@ref PhysicsSystem::SaveState) function comes with a StateRecorderFilter interface that you can use to selectively save state. E.g. [ShouldSaveBody](@ref StateRecorderFilter::ShouldSaveBody) could simply return false for all static or inactive bodies which can be used to limit the size of the snapshot.
If you wish to share saved state between server and client, you need to ensure that all APIs that modify the state of the world are called in the exact same order. So if the client creates physics objects for player 1 then 2 and the server creates the objects for 2 then 1 you already have a problem (the body IDs will be different, which will render the save state snapshots incompatible). When rolling back a simulation, you'll also need to ensure that the BodyIDs are kept the same, so you need to remove/add the body from/to the physics system instead of destroy/re-create them or you need to create bodies with the same ID on both sides using [BodyInterface::CreateBodyWithID](@ref BodyInterface::CreateBodyWithID).
# Being Sloppy While Still Being Deterministic {#sloppy-determinism}
If you do things in the same order it is guaranteed to be deterministic, but if you know what you're doing you can take some liberties.
E.g. doing `BodyA.SetFriction(...); BodyB.SetFriction(...);` or `BodyB.SetFriction(...); BodyA.SetFriction(...);` doesn't matter for determinism,
the main thing you need to ensure is that when you do a PhysicsSystem::Update that the binary state is the same.
Also adding body A then B is the same as B then A as long as the BodyIDs of A and B are consistent.
For constraints, adding A then B or B then A is equivalent as long as ConstraintSettings::mConstraintPriority is unique per constraint so that it defines a consistent ordering (in this case all constraints in the system must have a unique number).
Note though that PhysicsSystem::SaveState relies on the ordering of constraints, so you'll have to skip serializing constraints by not setting EStateRecorderState::Constraints and call Constraint::SaveState / Constraint::RestoreState directly yourself.
# Working With Multiple Physics Systems {#working-with-multiple-physics-systems}
You can create, simulate and interact with multiple PhysicsSystems at the same time provided that you do not share any objects (bodies, constraints) between the systems.
When a Body is created it receives a BodyID that is unique for the PhysicsSystem that it was created for, so it cannot be shared. The only object that can be shared between PhysicsSystems is a Shape.
If you want to move a body from one PhysicsSystem to another, use Body::GetBodyCreationSettings to get the settings needed to create the body in the other PhysicsSystem.
PhysicsSystems are not completely independent:
* There is only 1 RTTI factory (Factory::sInstance).
* There is only 1 default material (PhysicsMaterial::sDefault).
* There is only 1 debug renderer (DebugRenderer::sInstance) although many functions take a custom DebugRenderer for drawing.
* Custom shapes and CollisionDispatch functions are shared.
* The custom memory allocation functions (e.g. Allocate), Trace and AssertFailed functions are shared.
These functions / systems need to be registered in advance.
# Debug Rendering {#debug-rendering}
When the define JPH_DEBUG_RENDERER is defined (which by default is defined in Debug and Release but not Distribution), Jolt is able to render its internal state. To integrate this into your own application you must inherit from the DebugRenderer class and implement the pure virtual functions DebugRenderer::DrawLine, DebugRenderer::DrawTriangle, DebugRenderer::CreateTriangleBatch, DebugRenderer::DrawGeometry and DebugRenderer::DrawText3D. The CreateTriangleBatch is used to prepare a batch of triangles to be drawn by a single DrawGeometry call, which means that Jolt can render a complex scene much more efficiently than when each triangle in that scene would have been drawn through DrawTriangle. At run-time create an instance of your DebugRenderer which will internally assign itself to DebugRenderer::sInstance. Finally call for example PhysicsSystem::DrawBodies or PhysicsSystem::DrawConstraints to draw the state of the simulation. For an example implementation see [the DebugRenderer from the Samples application](https://github.com/jrouwe/JoltPhysics/blob/master/TestFramework/Renderer/DebugRendererImp.h) or to get started quickly take a look at DebugRendererSimple.
# Memory Management {#memory-management}
Jolt uses reference counting for a number of its classes (everything that inherits from RefTarget). The most important classes are:
* ShapeSettings
* Shape
* ConstraintSettings
* Constraint
* PhysicsMaterial
* GroupFilter
* PhysicsScene
* SoftBodySharedSettings
* VehicleCollisionTester
* VehicleController
* WheelSettings
* CharacterBaseSettings
* CharacterBase
* RagdollSettings
* Ragdoll
* Skeleton
* SkeletalAnimation
* SkeletonMapper
Reference counting objects start with a reference count of 0. If you want to keep ownership of the object, you need to call [object->AddRef()](@ref RefTarget::AddRef), this will increment the reference count. If you want to release ownership you call [object->ReleaseRef()](@ref RefTarget::Release), this will decrement the reference count and if the reference count reaches 0 the object will be destroyed. If, after newing, you pass a reference counted object on to another object (e.g. a ShapeSettings to a CompoundShapeSettings or a Shape to a Body) then that other object will take a reference, in that case it is not needed take a reference yourself beforehand so you can skip the calls to ```AddRef/Release```. Note that it is also possible to do ```auto x = new XXX``` followed by ```delete x``` for a reference counted object if no one ever took a reference. The safest way of working with reference counting objects is to use the Ref or RefConst classes, these automatically manage the reference count for you when assigning a new value or on destruction:
```
// Calls 'AddRef' to keep a reference the shape
JPH::Ref<Shape> shape = new JPH::SphereShape(1.0f);
// Calls 'Release' to release and delete the shape (note that this also happens if JPH::Ref goes out of scope)
shape = nullptr;
```
The Body class is a special case, it is destroyed through BodyInterface::DestroyBody (which internally destroys the Body).
Jolt also supports routing all of its internal allocations through a custom allocation function. See: [Allocate](@ref Allocate), [Reallocate](@ref Reallocate), [Free](@ref Free), [AlignedAllocate](@ref AlignedAllocate) and [AlignedFree](@ref AlignedFree).
# The Simulation Step in Detail {#the-simulation-step-in-detail}
The job graph looks like this:
![Job Graph Physics Step](PhysicsSystemUpdate.svg)
Note that each job indicates if it reads/writes positions/velocities and if it deactivates/activates bodies. We do not allow jobs to read/write the same data concurrently. The arrows indicate the order in which jobs are executed. Yellow blocks mean that there are multiple jobs of this type. Dotted arrows have special meaning and are explained below.
## Broad Phase Update Prepare {#broad-phase-update-prepare}
This job will refit the AABBs of the broad phase. It does this by building a new tree while keeping the old one available as described in the @ref broad-phase section.
## Broad Phase Update Finalize {#broad-phase-update-finalize}
This job will simply swap the new tree with the old tree. The old tree will be discarded at the beginning of the next PhysicsSystem::Update call so that any broad phase query can continue to run.
## Step Listeners {#step-listeners-update}
You can register one or more step listeners (See [PhysicsSystem::AddStepListener](@ref PhysicsSystem::AddStepListener)). This job will call [PhysicsStepListener::OnStep](@ref PhysicsStepListener::OnStep) for every listener. This can be used to do work that needs to be done at the beginning of each step, e.g. set velocities on ragdoll bodies.
## Apply Gravity {#apply-gravity-update}
A number of these jobs run in parallel. Each job takes a batch of active bodies and applies gravity and damping (updating linear and angular velocity).
## Determine Active Constraints {#determine-active-constraints}
This job will go through all non-contact constraints and determine which constraints are active based on if the bodies that the constraint connects to are active.
## Build Islands from Constraints {#build-islands-from-constraints}
This job will go through all non-contact constraints and assign the involved bodies and constraint to the same island. Since we allow concurrent insertion/removal of bodies we do not want to keep island data across multiple simulation steps, so we recreate the islands from scratch every simulation step. The operation is lock-free and O(N) where N is the number of constraints.
If a constraint connects an active and a non-active body, the non-active body is woken up. One find collisions job will not start until this job has finished in order to pick up any collision testing for newly activated bodies.
## Find Collisions {#find-collisions}
This job will do broad and narrow phase checks. Initially a number of jobs are started based on the amount of active bodies. The job will do the following:
- Take a batch of active bodies and collide them against the broadphase.
- When a collision pair is found it is inserted in a lock free queue to be processed later.
- If the queue is full, it will be processed immediately (more Find Collisions jobs are spawned if not all CPU cores are occupied yet as the queue starts to fill up).
- If there are no more active bodies to process, the job will start to perform narrow phase collision detection and set up contact constraints if any collisions are found.
- As soon as a narrow phase pair is processed it will recheck if there are new active bodies to be processed (active bodies can be generated by an active body colliding with an inactive body) and if so process them.
- When there are no more active bodies to test and no more collision pairs to be processed the job terminates.
Note that this job cannot start until apply gravity is done because the velocity needs to be known for elastic collisions to be calculated properly.
The contact points between the two bodies will be determined by the [GJK](@ref GJKClosestPoint) and [EPA](@ref EPAPenetrationDepth) algorithms. For each contact point we will calculate the face that belongs to that contact point. The faces of both bodies are clipped against each other ([ManifoldBetweenTwoFaces](@ref ManifoldBetweenTwoFaces)) so that we have a polygon (or point / line) that represents the contact between the two bodies (contact manifold).
Multiple contact manifolds with similar normals are merged together (PhysicsSystem::ProcessBodyPair::ReductionCollideShapeCollector). After this the contact constraints are created in the [ContactConstraintManager](@ref ContactConstraintManager) and their Jacobians / effective masses calculated.
Contacting bodies are also linked together to form islands. This is the same operation as described in the @ref build-islands-from-constraints section.
The narrow phase makes use of a lock free contact cache. We have 2 caches, one that is used for reading (which contains the contacts from the previous step) and one for writing new contact pairs. When a contact point is preserved from the last simulation step, it will be copied from the read cache to the write cache.
## Setup Velocity Constraints {#setup-velocity-constraints}
This job will go through all non-contact constraints and prepare them for execution. This involves calculating Jacobians and effective masses for each constraint part.
## Finalize Islands {#finalize-islands}
This job will finalize the building of the simulation islands. Each island contains bodies that interact with each other through a contact point or through a constraint. These islands will be simulated separately in different jobs later. The finalization of the islands is an O(N) operation where N is the amount of active bodies (see [IslandBuilder::Finalize](@ref IslandBuilder::Finalize)).
## Set Body Island Idx {#set-body-island-idx}
This job does some housekeeping work that can be executed concurrent to the solver:
* It will assign the island ID to all bodies (which is mainly used for debugging purposes)
## Solve Velocity Constraints {#solve-velocity-constraints}
A number of these jobs will run in parallel. Each job takes the next unprocessed island and will run the iterative constraint solver for that island. It will first apply the impulses applied from the previous simulation step (which are stored in the contact cache) to warm start the solver. It will then repeatedly iterate over all contact and non-contact constraints until either the applied impulses are too small or a max iteration count is reached ([PhysicsSettings::mNumVelocitySteps](@ref PhysicsSettings::mNumVelocitySteps)). The result will be that the new velocities are known for all active bodies. The applied impulses are stored in the contact cache for the next step.
When an island consists of more than LargeIslandSplitter::cLargeIslandTreshold contacts plus constraints it is considered a large island. In order to not do all work on a single thread, this island will be split up by the LargeIslandSplitter. This follows an algorithm described in High-Performance Physical Simulations on Next-Generation Architecture with Many Cores by Chen et al. This is basically a greedy algorithm that tries to group contacts and constraints into groups where no contact or constraint affects the same body. Within a group, the order of execution does not matter since every memory location is only read/written once, so we can parallelize the update. At the end of each group, we need to synchronize the CPU cores before starting on the next group. When the number of groups becomes too large, a final group is created that contains all other contacts and constraints and these are solved on a single thread. The groups are processed PhysicsSettings::mNumVelocitySteps times so the end result is almost the same as an island that was not split up (only the evaluation order changes in a consistent way).
## Pre Integrate {#pre-integrate}
This job prepares the CCD buffers.
## Integrate & Clamp Velocities {#integrate-and-clamp-velocities}
This job will integrate the velocity and update the position. It will clamp the velocity to the max velocity.
Depending on the motion quality ([EMotionQuality](@ref EMotionQuality)) of the body, it will schedule a body for continuous collision detection (CCD) if its movement is bigger than some threshold based on the [inner radius](@ref Shape::GetInnerRadius)) of the shape.
## Post Integrate {#post-integrate}
Find CCD Contact jobs are created on the fly depending on how many CCD bodies were found. If there are no CCD bodies it will immediately start Resolve CCD Contacts.
## Find CCD Contacts {#find-ccd-contacts}
A number of jobs will run in parallel and pick up bodies that have been scheduled for CCD and will do a linear cast to detect the first collision. It always allows movement of the object by a fraction if its inner radius in order to prevent it from getting fully stuck.
## Resolve CCD Contacts {#resolve-ccd-contacts}
This job will take the collision results from the previous job and update position and velocity of the involved bodies. If an object hits another object, its time will be 'stolen' (it will move less far than it should according to its velocity).
## Finalize Contact Cache, Contact Removed Callbacks {#finalize-contact-cache}
This job will:
* Swap the read/write contact cache and prepare the contact cache for the next step.
* It will detect all contacts that existed previous step and do not exist anymore to fire callbacks for them through the [ContactListener](@ref ContactListener) interface.
## Solve Position Constraints, Update Bodies Broad Phase {#solve-position-constraints}
A number of these jobs will run in parallel. Each job takes the next unprocessed island and run the position based constraint solver. This fixes numerical drift that may have caused constrained bodies to separate (remember that the constraints are solved in the velocity domain, so errors get introduced when doing a linear integration step). It will run until either the applied position corrections are too small or until the max amount of iterations is reached ([PhysicsSettings::mNumPositionSteps](@ref PhysicsSettings::mNumPositionSteps)). Here there is also support for large islands, the island splits that were calculated in the Solve Velocity Constraints job are reused to solve partial islands in the same way as before.
It will also notify the broad phase of the new body positions / AABBs.
When objects move too little the body will be put to sleep. This is detected by taking the biggest two axis of the local space bounding box of the shape together with the center of mass of the shape (all points in world space) and keep track of 3 bounding spheres for those points over time. If the bounding spheres become too big, the bounding spheres are reset and the timer restarted. When the timer reaches a certain time, the object has is considered non-moving and is put to sleep.
## Soft Body Prepare {#soft-body-prepare}
If there are any active soft bodies, this job will create the Soft Body Collide, Simulate and Finalize Jobs. It will also create a list of sorted SoftBodyUpdateContext objects that forms the context for those jobs.
## Soft Body Collide {#soft-body-collide}
These jobs will do broadphase checks for all of the soft bodies. A thread picks up a single soft body and uses the bounding box of the soft body to find intersecting rigid bodies. Once found, information will be collected about that rigid body so that Simulate can run in parallel.
## Soft Body Simulate {#soft-body-simulate}
These jobs will do the actual simulation of the soft bodies. They first collide batches of soft body vertices with the rigid bodies found during the Collide job (multiple threads can work on a single soft body) and then perform the simulation using XPBD (also partially distributing a single soft body on multiple threads).
## Soft Body Finalize {#soft-body-finalize}
This job writes back all the rigid body velocity changes and updates the positions and velocities of the soft bodies. It can activate/deactivate bodies as needed.

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# Performance Test
The performance test application contains a couple of simple scenes to test performance of Jolt Physics. It will output the results to the TTY in CSV format.
## Commandline options
- -s=[scene]: This allows you to select a scene, [scene] can be;
- Ragdoll: A scene with 16 piles of 10 ragdolls (3680 bodies) with motors active dropping on a level section.
- RagdollSinglePile: A single pile of 160 ragdolls (3680 bodies) with motors active dropping on a level section.
- ConvexVsMesh: A simpler scene of 484 convex shapes (sphere, box, convex hull, capsule) falling on a 2000 triangle mesh.
- Pyramid: A pyramid of 1240 boxes stacked on top of each other to profile large island splitting.
- LargeMesh: Searches for the biggest MeshShape that can be created and then drops 4410 boxes on that mesh.
- -i=[iterations]: Number of physics steps before the test finishes.
- -q=[quality]: This limits the motion quality types that the test will run on. By default it will test both. [quality] can be:
- Discrete: Discrete collision detection
- LinearCast: Linear cast continous collision detection
- -t=[num]: This sets the amount of threads the test will run on. By default it will test 1 .. number of virtual processors. Can be 'max' to run on as many thread as the CPU has.
- -no_sleep: Disable sleeping.
- -p: Outputs a profile snapshot every 100 iterations
- -r: Outputs a performance_test_[tag].jor file that contains a recording to be played back with JoltViewer
- -f: Outputs the time taken per frame to per_frame_[tag].csv
- -h: Displays a help text
- -rs: Record the simulation state in state_[tag].bin.
- -vs: Validate the recorded simulation state from state_[tag].bin. This will after every simulation step check that the state is the same as the recorded state and trigger a breakpoint if this is not the case. This is used to validate cross platform determinism.
- -repeat=[num]: Repeats all tests num times.
- -validate_hash=[hash]: Will validate that the hash of the simulation matches the supplied hash. Program terminates with return code 1 if it doesn't. Can be used to automatically validate determinism.
## Output
- Motion Quality: Shows the motion quality for the test.
- Thread Count: The amount of threads used for the test.
- Steps / Second: Average amount of physics steps / second over the entire duration of the test.
- Hash: A hash of all positions and rotations of the bodies at the end of the test. Can be used to verify that the test was deterministic.
## Results
If you're interested in how Jolt scales with multiple CPUs and compares to other physics engines, take a look at [this document](https://jrouwe.nl/jolt/JoltPhysicsMulticoreScaling.pdf).

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# Projects Using Jolt
* [Artillery Eco](https://github.com/OversizedSunCoreDev/ArtilleryEco) - Plugin for Unreal Engine 5 (UE5).
* [Dagor Engine](https://github.com/GaijinEntertainment/DagorEngine) - An open source engine used by [War Thunder](https://warthunder.com/). See [here](https://github.com/GaijinEntertainment/DagorEngine/tree/main/prog/engine/phys/physJolt).
* [Death Stranding 2: On the Beach](https://www.playstation.com/en-us/games/death-stranding-2-on-the-beach/) - A third person action adventure game set in a post-apocalyptic world ravaged by otherworldly creatures.
* [ezEngine](https://github.com/ezEngine/ezEngine) - An open source C++ game engine.
* [GDevelop](https://gdevelop.io/) - An open-source, no-code game engine. See [this](https://blog.blips.fm/articles/gdevelop-55-released-with-enhanced-3d-support) announcement.
* [Godot](https://github.com/godotengine/godot) - Godot Engine – Multi-platform 2D and 3D game engine. See [this](https://godotengine.org/releases/4.4/#jolt-physics-module) announcement.
* [Horizon Forbidden West](https://www.playstation.com/en-us/games/horizon-forbidden-west/) - An open world action RPG adventure.
* [HypeHype](https://www.hypehype.com/) - A mobile app to create, remix and play games. See [this](https://twitter.com/SebAaltonen/status/1726871354228482237) X post.
* [Light Tracer Render](https://lighttracer.org/) - A rendering tool, uses Jolt for object placement. See [this](https://lighttracer.org/blog/light-tracer-render-2-4-0/) announcement.
* [LÖVR](https://lovr.org) - A Lua VR framework. See [this](https://lovr.org/docs/v0.18.0) release announcement.
* [luxe engine](https://luxeengine.com) - A cross platform, rapid development game engine.
* [The Mirror](https://themirror.space/) - A game development platform designed to empower developers and artists with real-time, limitless creativity. See [this](https://twitter.com/themirrorgdp/status/1718019599361323023?s=20) X post.
* [Nazara Engine](https://github.com/NazaraEngine/NazaraEngine) - A cross-platform framework aimed at real-time applications (such as video games) requiring Audio, 2D/3D rendering and physics, network and more.
* [NeoAxis Engine](https://www.neoaxis.com/) - A 3D game engine. See [this](https://www.neoaxis.com/news/neoaxis_engine_2023_1_released) announcement.
* [Blood Line: A Rebel Moon Game](https://www.rebelmoongame.com/) - An online co-op action game set in the rebel moon universe.
* [Sceneri](https://www.sceneri.com/) - A mobile app for creating and sharing 3D games and experiences. See [this](https://www.sceneri.com/blog/2023-07-27-jolt-physics-bringing-sceneris-worlds-to-life) blog post.
* [Substrata](https://substrata.info/) - A metaverse platform.
* [Supernova Engine](https://www.supernovaengine.org/) - Game engine for 2D and 3D projects with entity component system (ECS) and data-oriented design.
* [Traktor Engine](https://github.com/apistol78/traktor/) - An open-source 3d game engine written in C++.
* [Unreal Jolt](https://github.com/Yadhu-S/UnrealJolt) - Plugin for Unreal Engine 5 (UE5).
* [VPhysics Jolt](https://github.com/Joshua-Ashton/VPhysics-Jolt), a replacement for Ipion Virtual Physics in the Source Engine. Can be used in e.g. [Garry's Mod](https://store.steampowered.com/app/4000/Garrys_Mod/).
* [Wicked Engine](https://wickedengine.net/) - 3D engine with modern graphics. See [X post](https://x.com/turanszkij/status/1805979390557528217) and [github](https://github.com/turanszkij/WickedEngine/blob/master/WickedEngine/wiPhysics_Jolt.cpp).
* [X4 Foundations](https://store.steampowered.com/app/392160/X4_Foundations/) - A space simulation game. See [this](https://forum.egosoft.com/viewtopic.php?t=451046) announcement.
If your project is using Jolt, open a discussion or send a PR to add it to the list.

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# Release Notes
For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysics/blob/master/Docs/APIChanges.md).
## v5.5.0
### New functionality
* Added new define `JPH_TRACK_SIMULATION_STATS` which tracks simulation statistics on a per body basis. This can be used to figure out bodies are the most expensive to simulate.
* Added `RagdollSettings::CalculateConstraintPriorities` which calculates constraint priorities that boost the priority of joints towards the root of the ragdoll.
* BoxShape, CylinderShape and TaperedCylinderShape will now automatically reduce the convex radius if the specified value is too big for the shape (instead of erroring out).
* Added ability to configure the thickness of triangles when colliding with soft bodies through `CollideSoftBodyVerticesVsTriangles::sTriangleThickness`.
* Added `JPH_DEFAULT_ALLOCATE_ALIGNMENT` which allows defining the default `Allocate` alignment if your allocator's alignment is different from the alignment as defined by `__STDCPP_DEFAULT_NEW_ALIGNMENT__`.
### Bug Fixes
* Visual Studio 2026 support.
* A 6DOF constraint that constrains all rotation axis in combination with a body that has some of its rotation axis locked would not constrain the rotation in the unlocked axis.
* Added include `type_traits` for `std::is_trivial` to avoid compile error on macOS with clang 21.
* Fixed compilation error when using Jolt in conjunction with the `_CRTDBG_MAP_ALLOC` define on Windows.
* Fixed cast shape possibly not returning a hit when a shape cast starts touching (but not intersecting) another shape and requesting the deepest hit.
* Fixed division by zero when doing a really long (6 KM) sphere cast against a triangle. In this case the floating point accuracy became low enough so that the distance between the sphere center and the triangle (which should be 'radius') became zero instead.
* Fixed memory leak when providing invalid parameters to TaperedCylinderShapeSettings and creating the shape.
* Fixed collision between soft body and `TriangleShape`/`MeshShape`/`HeightFieldShape`. This would not find the closest collision point in case the shape was scaled. It would also make the triangles much thicker than intended causing collisions with back facing triangles that were very far away.
## v5.4.0
### New functionality
* Added Cosserat rods to soft bodies. This is a stick constraint with an orientation that can be used to attach geometry. Can be used e.g. to simulate vegetation in a cheap way. See the new `SoftBodyCosseratRodConstraintTest` demo.
* Added ability to drive hinge constraints with `Ragdoll::DriveToPoseUsingMotors`. This also adds `HingeConstraint::SetTargetOrientationBS` which sets the target angle in body space.
* Added `JPH_USE_EXTERNAL_PROFILE` cmake option that allows overriding the behavior of the profile macros.
* Added `SoftBodyCreationSettings::mFacesDoubleSided` which treats the faces of the soft body as double sided. This can be used to make e.g. flags double sided.
* Added functions to get the `CharacterSettings` from a `Character` and `CharacterVirtualSettings` from a `CharacterVirtual`.
* Added support for compound shapes as character shape in `CharacterVirtual`.
* Added `BodyInterface::SetIsSensor`/`IsSensor` functions.
### Bug Fixes
* Fixed bug in `ManifoldBetweenTwoFaces` which would not find the correct manifold in case face 1 had 3 or more vertices and face 2 only 2. E.g. for a box resting the long edge of a cylinder this would mean that only a single contact point was found instead of 2 (the other way around would work fine).
* Fixed bug in `ConvexHullShape::CollideSoftBodyVertices` where the wrong edge could be reported as the closest edge.
* Fixed bug in `PhysicsSystem::OptimizeBroadPhase`. When calling this function after removing all bodies from the `PhysicsSystem`, the internal nodes would not be freed until bodies are added again. This could lead to running out of internal nodes in rare cases.
* Fixed bug in `MeshShape` active edge calculation which could mark edges of non-manifold meshes as inactive instead of active.
* Fixed passing underestimate of penetration depth in `ContactListener::OnContactPersisted` when the contact comes from the contact cache.
* `QuadTree` will now fall back to the heap when running out of stack space during collision queries. Previously this would trigger an assert and some collisions would not be detected.
* Fixed `BodyInterface::MoveKinematic`, `SetLinearVelocity`, `SetAngularVelocity`, `SetLinearAndAngularVelocity`, `AddLinearVelocity`, `AddLinearAndAngularVelocity`, `SetPositionRotationAndVelocity` and `SetMotionType` when body not added to the physics system yet.
* Fixed UBSAN false positive error that detected a dirty trick in `SimShapeFilter`.
* WheelSettingsTV and WheelSettingsWV were not serializing their base class members.
* The remap tables in `SoftBodySharedSettings::OptimizationResults` mapped from new to old index instead of from old to new as was documented. The maps now behave as documented.
* Fixed an issue where soft body bend constraints could be created with identical vertices. This led to an assert triggering.
* Fixed infinite recursion when colliding a `TriangleShape` vs a `TriangleShape`.
* 32-bit MinGW g++ doesn't call the correct overload for the new operator when a type is 16 bytes aligned. This could cause unaligned read access violations.
* Fixed compiling in double precision and fixed issues with floating point contraction that caused unit test failures on LoongArch architecture.
* Added an epsilon to the `CastRay` / `CastShape` early out condition to avoid dividing by a very small number and overflowing to INF. This can cause a float overflow exception.
* Fixed Samples requiring Vulkan extension `VK_EXT_device_address_binding_report` without checking if it is available.
* Fixed Vulkan warning in Samples: VkSemaphore is being signaled by VkQueue but it may still be in use by VkSwapchainKHR.
* Fixed incorrect RTTI definition of `MotorcycleControllerSettings` which led to the members of `WheeledVehicleControllerSettings` not being serialized.
* Implemented missing `VehicleConstraint::GetConstraintSettings` function.
* Fixed colliding a compound shape vs a regular shape ignoring `CollideShapeSettings::mMaxSeparationDistance`. This potentially led to missed collisions.
## v5.3.0
### New functionality
#### Samples
* The Samples and JoltViewer can run on Linux using Vulkan. Make sure to install the Vulkan SDK before compiling (see: `Build/ubuntu24_install_vulkan_sdk.sh`).
* The Samples and JoltViewer can run on macOS using Metal.
#### MeshShape
* `MeshShape`s of up to 110M triangles are possible now, but the actual maximum is very dependent on how the triangles in the mesh are connected.
* Optimized creation of `MeshShape`. Improves build speed by about 25% and reduces number of allocations by a factor of 1000. Allocations caused contention when building meshes from multiple threads.
* Added `MeshShapeSettings::mBuildQuality` which allows selecting between faster mesh creation or faster run time performance.
#### Character
* Added `OnContactPersisted`, `OnContactRemoved`, `OnCharacterContactPersisted` and `OnCharacterContactRemoved` functions on `CharacterContactListener` to better match the interface of `ContactListener`.
* Every `CharacterVirtual` now has a `CharacterID`. This ID can be used to identify the character after removal and is used to make the simulation deterministic in case a character collides with multiple other virtual characters.
* Added support for `CharacterVirtual` to override the inner rigid body ID. This can be used to make the simulation deterministic in e.g. client/server setups.
#### Collision Detection
* Added `PhysicsSystem::SetSimShapeFilter`. This allows filtering out collisions between sub shapes within a body and can for example be used to have a single body that contains a low detail simulation shape an a high detail collision query shape. An example of a body that's both a sensor and a rigid body can be found in `ContactListenerTest`.
* Added `PhysicsSystem::SetSimCollideBodyVsBody`. This allows overriding the collision detection between two bodies. It can be used to only store the 1st hit for sensor collisions. This makes sensors cheaper if you only need to know if there is an overlap or not. An example can be found in `SimCollideBodyVsBodyTest`.
* Added `ClosestHitPerBodyCollisionCollector` which will report the closest / deepest hit per body that the collision query collides with.
* Added overridable `CollisionCollector::OnBodyEnd` that is called after all hits for a body have been processed when collecting hits through `NarrowPhaseQuery`.
#### New Platforms
* Added support for RISC-V, LoongArch and PowerPC (Little Endian) CPUs.
* Added support for WASM64.
#### Various
* Removed the use of `std::unordered_map` and `std::unordered_set` and replaced them with our own implementation: `UnorderedMap` and `UnorderedSet`.
* Added `MotionProperties::ScaleToMass`. This lets you easily change the mass and inertia tensor of a body after creation.
* Split up `Body::ApplyBuoyancyImpulse` into `Body::GetSubmergedVolume` and `Body::ApplyBuoyancyImpulse`. This allows you to use the calculated submerged volume for other purposes.
* Added binary serialization to `SkeletalAnimation`.
* Added the ability to add a sub shape at a specified index in a `MutableCompoundShape` rather than at the end.
* Added `STLLocalAllocator` which is an allocator that can be used in e.g. the `Array` class. It keeps a fixed size buffer for N elements and only when it runs out of space falls back to the heap.
* Added the following constants on PhysicsSystem: `cMaxBodiesLimit`, `cMaxBodyPairsLimit` and `cMaxContactConstraintsLimit`. These constants are the max allowable values for `PhysicsSystem::Init`. Exceeding these will trigger an assert and the system will clamp the values. Note that on a 32 bit system, you'll run out of memory before you reach these values.
### Bug fixes
* Fixed bodies gaining more energy than intended due to restitution. E.g. A restitution of 1 could lead to bodies bouncing ever higher.
* `BodyInterface::AddForce` applied a force per soft body vertex rather than to the whole body, this resulted in a soft body accelerating much more compared to a rigid body of the same mass.
* `std::push_heap`/`pop_heap` behave differently on macOS vs Windows/Linux when elements compare equal, this made the cross platform deterministic build not deterministic in some cases.
* Removing a sub shape from a `MutableCompoundShape` would not update the bounding box if the last shape was removed, which can result in a small performance loss.
* An empty `MutableCompoundShape` now returns the same local bounding box as `EmptyShape` (a point at (0, 0, 0)). This prevents floating point overflow exceptions.
* VehicleConstraint would override `Body::SetAllowSleeping` every frame, making it impossible for client code to configure a vehicle that cannot go to sleep.
* Fixed `CharacterVirtual::Contact::mIsSensorB` not being persisted in `SaveState`.
* Fixed `CharacterVirtual::Contact::mHadContact` not being true for collisions with sensors. They will still be marked as `mWasDiscarded` to prevent any further interaction.
* Fixed `Character::SetShape` failing to switch when standing inside a sensor / `Character::PostSimulation` finding a sensor as ground collision.
* Fixed numerical inaccuracy in penetration depth calculation when `CollideShapeSettings::mMaxSeparationDistance` was set to a really high value (e.g. 1000).
* Bugfix in `Semaphore::Acquire` for non-windows platform. The count was updated before waiting, meaning that the counter would become -(number of waiting threads) and the semaphore would not wake up until at least the same amount of releases was done. In practice this meant that the main thread had to do the last (number of threads) jobs, slowing down the simulation a bit.
* Fixed a bug in `ManifoldBetweenTwoFaces` that led to incorrect `ContactManifold::mRelativeContactPointsOn2` when the contact normal and the face normal were not roughly parallel. Also it possibly led to jitter in the simulation in that case.
* Fixed `InternalEdgeRemovingCollector` not working when colliding with a very dense triangle grid because it ran out of internal space. Now falling back to memory allocations when this happens to avoid ghost collisions.
* Fixed running out of stack space when simulating a really high number of active rigid bodies.
* Moved the 'broad phase bit' to the highest bit in `BodyID` to avoid running out of `NodeID`s in `BroadPhaseQuadTree` when calling `PhysicsSystem::OptimizeBroadPhase` on a tree with a very high body count.
* `TempAllocatorImpl` uses 64 bit integers internally to allow for a higher max contact constraint count.
* When inserting lots of bodies without using batching, a broad phase tree of depth > 128 can be created. If the `PhysicsSystem` was destructed in this situation, a stack overflow would cause a crash.
* When calling `PhysicsSystem::Update` with a delta time of 0, contact remove callbacks were triggered by accident for all existing contacts.
* Fixed `HingeConstraint` not having limits if `LimitsMin` was set to `-JPH_PI` or `LimitsMax` was set to `JPH_PI`. It should only be turned off if both are.
* Fixed `CylinderShape::GetSupportingFace` returning the wrong face. When the height of a cylinder was small compared to its radius, it would sink more into the ground than needed during simulation.
* When there were no active bodies, the step listeners weren't called. This meant they couldn't wake up bodies. The step listeners are now only skipped if the physics system is updated with zero delta time.
* Fixed a race condition in soft body simulation that could break determinism.
* Added overloads for placement new in the `JPH_OVERRIDE_NEW_DELETE` macro, this means it is no longer needed to do `:: new (address) JPH::class_name(constructor_arguments)` but you can do `new (address) JPH::class_name(constructor_arguments)`.
* Fixed a GCC warning `-Wshadow=global`.
## v5.2.0
### New functionality
* Added PlaneShape. An infinite plane. Negative half space is considered solid.
* Added TaperedCylinderShape. A cylinder with different top and bottom radii.
* Added EmptyShape. A shape that collides with nothing and that can be used as a placeholder or for dummy bodies.
* Use MeshShapeSettings::mPerTriangleUserData at about 25% memory increase to get per triangle user data through MeshShape::GetTriangleUserData
* Added `Shape::GetLeafShape` to be able to get a leaf shape given a sub shape ID
* Added `HeightFieldShape::GetSubShapeCoordinates` to get the triangle coordinates of a particular sub shape ID
* Split back face mode between convex/triangles for ray casts. This allows you to e.g. have meshes that do give back face hits while convex shapes don't.
* SoftBodyManifold now returns sensor contacts separately. Before this change, there was a limit of a single colliding body per soft body vertex. If the closest body happened to be a sensor this effectively disabled the collision with the world and caused artifacts. We can now also detect multiple sensor contacts per soft body and they are returned through a new interface `SoftBodyManifold::GetSensorContactBodyID`.
* Added support for running Jolt with ThreadSanitizer.
* Added support for using ScaledShape inside CharacterVirtual.
* Added ability to save/restore a simulation in parts using `StateRecorder::SetIsLastPart`. Also added `StateRecorderFilter::ShouldRestoreContact` to allow selective restoring of contacts.
* Added `JPH_DEBUG_SYMBOL_FORMAT` cmake option. This allows switching from the default dwarf symbol format to e.g. the source-map format for emscripten, which speeds up compilation.
### Bug fixes
* Fixed an issue where enhanced internal edge removal would throw away valid contacts when a dynamic compound shape is colliding with another mesh / box shape.
* Fixed an issue where the bounding volume of a HeightFieldShape was not properly adjusted when calling SetHeights leading to missed collisions.
* Workaround for CMake error `CMake Error: No output files for WriteBuild!` when using the 'Ninja Multi-Config' generator.
* When a height field was created where SampleCount / BlockSize is not a power of 2 and a soft body touched the right or bottom border of the height field, the application would crash.
* Fixed a link error `ld: error: undefined symbol: pthread_create` on FreeBSD.
* Fixed missing files ConfigurationString.h and SoftBodyUpdateContext.h when running `cmake --install`.
* Fixed various missing header files when running `cmake --install` when `ENABLE_OBJECT_STREAM=OFF`.
* When using `cmake --install` to install a shared library on Windows, the dll is installed in the 'bin' folder now.
* Fixed cmake warning: `Policy CMP0177 is not set: install() DESTINATION paths are normalized.`
* Fixed `unresolved symbol '__emutls_v._ZN3JPH11PhysicsLock6sLocksE'` when compiling Jolt as a shared library with MinGW.
* Added workaround for issue where Firefox has problems with the `_mm_blendv_ps` intrinsic when compiling to WASM.
## v5.1.0
### New functionality
#### Soft Body
* Added support for applying a global force to a soft body through Body::AddForce.
* Implemented better algorithm to split soft body constraints into parallel groups. This makes the soft body simulation 10-20% faster and also enables multithreading LRA, bend, volume and skinned constraints.
* Added approximate ACos function which speeds up dihedral bend constraints by approx. 10%.
* Improved sorting of LRA soft body constraints to improve convergence.
* Added ability to draw soft body constraint evaluation order.
#### HeightField Shape
* Sped up deserialization of HeightFieldShape/MeshShape classes by optimizing reading a vector of data in StreamIn, by switching std::vector out for a custom Array class and by combining a number of allocations into one.
* Added HeightFieldShape::GetMinHeightValue/GetMaxHeightValue that can be used to know which range of heights are accepted by SetHeights.
* Allowing negative stride when getting/setting height field shape heights or materials. This improves performance if your data happens to be layed out the wrong way around.
* Added HeightFieldShapeSettings::mMaterialsCapacity which can enlarge the internal materials array capacity to avoid resizing when HeightFieldShape::SetMaterials is called with materials that weren't in use by the height field yet.
* Added Clone function to HeightFieldShape. This allows creating a copy before modifying the shape.
#### Character
* Added CharacterBaseSettings::mEnhancedInternalEdgeRemoval (default false) that allows smoother movement for both the Character and CharacterVirtual class.
* Added ability for a CharacterVirtual to collide with another CharacterVirtual by using the new CharacterVsCharacterCollision interface.
* Added the option to add an inner rigid body to a CharacterVirtual. This allows it to interact with sensors through the regular ContactListener and to be found by normal collision checks.
#### Vehicles
* Added ability to override the gravity vector per vehicle. This allows creating vehicles that can e.g. stick to the surface of a track and drive upside down. See VehicleConstraint::OverrideGravity.
#### Various
* Replaced std::vector with a custom Array class. std::vector initializes memory to zero which causes an undesired performance overhead.
* Added macro JPH_OBJECT_STREAM that controls if ObjectStream and serialized attributes are compiled into the library or not. This can reduce the size of the library if you're not using this feature.
* Added option to get a callback when a JobSystemThreadPool thread starts/stops. This allows you to e.g. set application specific thread locals.
* Added cmake option USE_ASSERTS to turn on asserts in builds other than the Debug build.
* Switch from using _DEBUG to NDEBUG to detect debug mode. NDEBUG is defined in the standard while _DEBUG is Visual Studio specific.
* The OVERRIDE_CXX_FLAGS cmake flag will now also work for MSVC and allow you to specify your own CMAKE_CXX_FLAGS_DEBUG/CMAKE_CXX_FLAGS_RELEASE flags
* BodyInterface::AddForce/Torque functions now take an optional EActivation parameter that makes it optional to activate the body. This can be used e.g. to not let the body wake up if you're applying custom gravity to a body.
* Activating bodies now resets the sleep timer when the body is already active. This prevents the body from going to sleep in the next frame and can avoid quick 1 frame naps.
* Added Clone function to MutableCompoundShape. This allows creating a copy before modifying the shape.
* QuadTree / FixedSizeFreeList: Reorder variable layout to reduce false sharing & thread syncs to reduce simulation time by approximately 5%.
* Generate a CMake config file when the project is installed. Allows for other projects to import Jolt using the find_package() functionality.
* Added USE_WASM_SIMD cmake option. This will enable SIMD on the emscripten WASM build.
* Emscripten WASM build can now be compiled cross platform deterministic and deliver the same results as Windows, Linux etc.
* Added Shape::MakeScaleValid function. This function will take a scale vector and check it against the scaling rules for the shape. If it is not valid, it will return a scale that is close to the provided scale which is valid.
* Added cmake options to toggle exception-handling and RTTI. CPP_EXCEPTIONS_ENABLED enables exceptions, CPP_RTTI_ENABLED enables RTTI. By default they're both off as Jolt doesn't use these features. In the PerformanceTest this speeds up the simulation by about 5% for MSVC, no difference was measured for clang.
### Bug fixes
* Fix for new warning in MSVC 17.10 in immintrin.h: '__check_isa_support': unreferenced inline function has been removed.
* Fix error in gcc 14. Using always_inline in debug mode causes error: "inlining failed in call to 'always_inline' 'XXX': function not considered for inlining"
* Fixed clang-18 warning "LLVMgold.so: error loading plugin ... cannot open shared object file: No such file or directory", due to https://github.com/llvm/llvm-project/issues/84271 it currently doesn't support LTO.
* Suppress GCC warning: 'XXX' may be used uninitialized in this function [-Werror=maybe-uninitialized].
* Fixed compile errors when compiling with GCC for the ARM platform.
* When calling CharacterVirtual::SetShape, a collision with a sensor would cause the function to abort as if the character was in collision.
* CharacterVirtual stick to floor / stair walk did not trigger a contact added callback on the CharacterContactListener.
* Fixed bug where the the skinned position of a soft body would update in the first sub-iteration, causing a large velocity spike and jittery behavior.
* Fixed bug where the velocity of soft body vertices would increase indefinitely when resting on the back stop of a skinned constraint.
* Fixed bug when SkinVertices for a soft body is not called every frame, the previous position of the skin was still used causing a replay of the motion of the previous frame.
* Fixed bug in cast ray vs soft body which caused missed collisions in case a back facing triangle was hit.
* Fixed handling of mass override from SoftBodyContactListener. Previously if the inverse mass of both of the soft body and the colliding body were set to 0, the soft body would still react.
* Fixed crash in Ragdoll::DriveToPoseUsingMotors when using constraints other than SwingTwistConstraint.
* Fixed -Wunused-parameter warning on GCC when building in Release mode with -Wextra.
* Fixed tolerance in assert in GetPenetrationDepthStepEPA.
* Due to a difference between the used instructions in NEON and SSE -Vec3::sZero() returned different binary results on ARM vs x86. When JPH_CROSS_PLATFORM_DETERMINISTIC is defined, we ensure that the calculation is the same now.
* Forgot to free a temporary allocation on an early out in HeightFieldShape::SetMaterials.
* Fix SSE not being enabled on x86 32-bits.
* Fixed a bug in the enhanced internal edge removal that could cause rigid bodies and characters to be affected by internal edges.
* Fixed a bug in MutableCompoundShape::AdjustCenterOfMass which would fail to update the bounding box of the shape.
* The 32 bit and 64 bit versions of the library now produce the same binary stream when serializing data to a StreamOut. Before some values would be stored as size_t which is platform dependent.
## v5.0.0
### New Functionality
#### Soft Body
* Added soft body skinning constraints. This can be used to limit the movement of soft body vertices based on a skinned mesh. See [documentation](https://jrouwe.github.io/JoltPhysics/index.html#skinning-soft-bodies) for more info or watch this [movie](https://www.youtube.com/watch?v=NXw8yMczHJg).
* Added ability to turn on/off skinning constraints and to update the max distance for all constraints with a distance multiplier.
* Added dihedral bend constraints for soft bodies. See [movie](https://www.youtube.com/watch?v=A1iswelnGH4).
* Added long range attachment constraints (also called tethers) for soft bodies.
* Added SoftBodyContactListener which allows you to get callbacks for collisions between soft bodies and rigid bodies. See [movie](https://www.youtube.com/watch?v=DmS_8d2bdOw).
* Added support for a vertex radius for soft bodies. This keeps the vertices a fixed distance away from the surface which can be used to avoid z-fighting while rendering the soft body.
* Added SoftBodySharedSettings::CreateConstraints function that can automatically generate constraints based on the faces of the soft body.
* Added ability to update a soft body outside of the physics simulation step using SoftBodyMotionProperties::CustomUpdate. This is e.g. useful if the soft body is teleported and needs to 'settle'.
#### Vehicles
* Added support for less than 1 collision test per simulation step for vehicle wheels. This behavior can be configured differently when the vehicle is active / inactive. This can be used for LODding vehicles.
* Added wheel index to VehicleConstraint::CombineFunction friction callback and calculating longitudinal and lateral friction in the same call so you can have more differentiation between wheels.
* Added ability to override the max tire impulse calculations for wheeled vehicles. See WheeledVehicleController::SetTireMaxImpulseCallback.
* Added ability to disable the lean steering limit for the motorcycle, turning this off makes the motorcycle more unstable, but gives you more control over the final steering angle.
#### Character
* CharacterVirtual will now receive an OnContactAdded callback when it collides with a sensor (but will have no further interaction).
* Added user data to CharacterVirtual.
#### Constraints
* Swing limits do not need to be symmetrical anymore for SixDOFConstraints. This requires using the new pyramid shaped swing limits (ESwingType::Pyramid). SwingTwistConstraints still requires symmetrical limits but can use the pyramid swing limits too. These are cheaper to evaluate but are less smooth.
* Twist limits no longer need to be centered around zero for SixDOFConstraints and SwingTwistConstraints, any value between -PI and PI is supported now.
* Changed the meaning of Constraint::mNumVelocity/PositionStepsOverride. Before the number of steps would be the maximum of all constraints and the default value, now an overridden value of 0 means that the constraint uses the default value, otherwise it will use the value as specified. This means that if all constraints in an island have a lower value than the default, we will now use the lower value instead of the default. This allows simulating an island at a lower precision than the default.
* Bodies can now also override the default number of solver iterations. This value is used when the body collides with another body and a contact constraint is created (for constraints, the constraint override is always used).
* Added fraction hint to PathConstraintPath::GetClosestPoint. This can be used to speed up the search along the curve and to disambiguate fractions in case a path reaches the same point multiple times (i.e. a figure-8).
* Added Constraint::ResetWarmStart and Ragdoll::ResetWarmStart. Used to notify the system that the configuration of the bodies and/or constraint has changed enough so that the warm start impulses should not be applied the next frame. You can use this function for example when repositioning a ragdoll through Ragdoll::SetPose in such a way that the orientation of the bodies completely changes so that the previous frame impulses are no longer a good approximation of what the impulses will be in the next frame.
* Multithreading the SetupVelocityConstraints job. This was causing a bottleneck in the case that there are a lot of constraints but very few possible collisions.
#### Collision Detection
* Created an object layer filter implementation that is similar to Bullet's group & mask filtering, see ObjectLayerPairFilterMask.
* Created implementations of BroadPhaseLayerInterface, ObjectVsBroadPhaseLayerFilter and ObjectLayerPairFilter that use a bit table internally. These make it easier to define ObjectLayers and with which object layers they collide.
* Renamed SensorDetectsStatic to CollideKinematicVsNonDynamic and made it work for non-sensors. This means that kinematic bodies can now get collision callbacks when they collide with other static / kinematic objects.
* Added function to query the bounding box of all bodies in the physics system, see PhysicsSystem::GetBounds.
#### Simulation
* Implemented enhanced internal edge removal algorithm. This should help reduce ghost collisions. See BodyCreationSettings::mEnhancedInternalEdgeRemoval and [movie](https://www.youtube.com/watch?v=Wh5MIiiPVDE).
* Added BodyInterface::SetUseManifoldReduction which will clear the contact cache and ensure that you get consistent contact callbacks in case the body that you're changing already has contacts.
#### Various
* Ability to enable gyroscopic forces on bodies to create the [Dzhanibekov effect](https://en.wikipedia.org/wiki/Tennis_racket_theorem).
* Supporting SIMD for WASM build. Use -msimd128 -msse4.2 options with emscripten to enable this.
* Allowing WASM build to use a custom memory allocator.
* Added DebugRendererSimple which can be used to simplify the creation of your own DebugRenderer implementation. It only requires a DrawLine, DrawTriangle and DrawText3D function to be implemented (which can be left empty).
* Added ability to update the height field materials after creation.
### Removed functionality
* Ability to restrict rotational degrees of freedom in local space, instead this is now done in world space.
### Bug fixes
* Fixed a bug in cast sphere vs triangle that could return a false positive hit against a degenerate triangle.
* Fixed bug in soft body vs tapered capsule. The calculations were slightly off causing a normal on the top or bottom sphere to be returned while the tapered part was actually closest.
* Fixed bug where colliding a cyclinder against a large triangle could return an incorrect contact point.
* Fixed bug where soft bodies would collide with sensors as if they were normal bodies.
* Sensors will no longer use speculative contacts, so will no longer report contacts before an actual contact is detected.
* Hinge limit constraint forces were clamped wrongly when the hinge was exactly at the minimum limit, making it harder to push the hinge towards the maximum limit.
* Fixed bug when a body with limited DOFs collides with static. If the resulting contact had an infinite effective mass, we would divide by zero and crash.
* Fixed unit tests failing when compiling for 32-bit Linux. The compiler defaults to using x87 instructions in this case which does not work well with the collision detection pipeline. Now defaulting to the SSE instructions.
* Fixed assert and improved interaction between a fast moving rigid body of quality LinearCast and a soft body.
* When creating a MeshShape with triangles that have near identical positions it was possible that the degenerate check decided that a triangle was not degenerate while the triangle in fact would be degenerate after vertex quantization. The simulation would crash when colliding with this triangle.
* A scaled compound shape with a center of mass of non zero would not apply the correct transform to its sub shapes when colliding with a soft body
* A soft body without any edges would hang the solver
* Fixed GCC 11.4 warning in JobSystemThreadPool.cpp: output may be truncated copying 15 bytes from a string of length 63
* Longitudinal friction impulse for wheeled/tracked vehicles could become much higher than the calculated max because each iteration it was clamped to the max friction impulse which meant the total friction impulse could be PhysicsSettings::mNumVelocitySteps times too high.
* Properly initializing current engine RPM to min RPM for wheeled/tracked vehicles. When min RPM was lower than the default min RPM the engine would not start at min RPM.
* Fixed a possible division by zero in Body::GetBodyCreationSettings when the inverse inertia diagonal had 0's.
* When specifying a -1 for min/max distance of a distance constraint and the calculated distance is incompatible with the other limit, we'll clamp it to that value now instead of ending up with min > max.
* Fixed bug that contact cache was partially uninitialized when colliding two objects with inv mass override of 0. When the contact listener would report a non zero inv mass override the next simulation step this would mean that the simulation would read garbage and potentially crash due to NaNs.
## v4.0.2
### New functionality
* Support for compiling with ninja on Windows.
### Bug fixes
* Fixed bug in Indexify function that caused it to be really slow when passing 10K identical vertices. Also fixed a problem that could have led to some vertices not being welded.
* Fixed bug in SixDOFConstraint::RestoreState that would cause motors to not properly turn on.
* Fixed a determinism issue in CharacterVirtual. The order of the contacts returned by GetActiveContacts() was not deterministic.
* Fixed issue in sample application that mouse is very sensitive when viewing with Parsec.
## v4.0.1
### New functionality
* Ability to stop overriding CMAKE_CXX_FLAGS_DEBUG/CMAKE_CXX_FLAGS_RELEASE which is important for Android as it uses a lot of extra flags. Set the OVERRIDE_CXX_FLAGS=NO cmake flag to enable this.
* Reduced size of a contact constraint which saves a bit of memory during simulation.
* Can now build a linux shared library using GCC.
### Bug fixes
* Fixed mass scaling (as provided by the ContactListener) not applied correctly to CCD objects & during solve position constraints. This led to kinematic objects being pushed by dynamic objects.
* Workaround for MSVC 17.8, limits.h doesn't include corecrt.h and triggers an error that \_\_STDC_WANT_SECURE_LIB\_\_ is not defined.
* Fixed bug in MustIncludeC logic in GetClosestPointOnTriangle.
* Removed the need for specifying -Wno-comment when compiling with GCC.
## v4.0.0
### New functionality
* Added support for soft bodies (feature still in development, see [announcement](https://x.com/jrouwe/status/1687051655898955776?s=20)).
* Support for limiting the degrees of freedom of a body to support 2D simulations (see [announcement](https://x.com/jrouwe/status/1676311800797622279?s=20)).
* Support for setting surface velocity of a body (see [announcement](https://x.com/jrouwe/status/1662727355553443844?s=20)).
* Added ability to update a height field after creation (see [announcement](https://x.com/jrouwe/status/1713670512801390829?s=20)).
* Support for non-power of 2 height fields.
* Expose a function to compare the JOLT_VERSION_ID with the version the library was compiled with to detect mismatches between library and client code.
* Added ability to specify extra ragdoll constraints that are not parent/child related.
* Ability to selectively save the state of a physics system to support replicating state over the network.
* Added constraint priority to control the order of evaluation of constraints (and thereby the most influential constraints).
* Sensors can now detect static objects.
* Ability to override mass and inertia of bodies from the ContactListener.
* Ability to specify stiffness/damping for springs instead of frequency/damping.
* Added option to disable the lean spring controller for motorcycles.
* Added vehicle callbacks at the beginning of the step listener and after wheel checks.
* Ability to override the position where the suspension and tire forces are applied.
* Support for building Jolt as a shared library on Windows.
* Optimized Indexify function from O(N^2) to O(N log(N)).
### Removed functionality
* Removed support for integration sub steps for PhysicsSystem::Update.
### New supported platforms
* 32-bit versions of Android on ARM and x86.
### Bug fixes
* Motor frequency/stiffness of 0 should turn the motor off.
* RotatedTranslatedShape::GetPosition returned the wrong value.
* If a body is removed between the broad phase detecting an overlap and the narrow phase locking the body, callbacks could be called on a body that has already been removed.
* Fixed flipped normals in EPA penetration depth algorithm which could cause the normal to point in the wrong direction for collision tests.
* Respecting the IsSensor flag for CCD bodies.
* Fixed double locking issue that could cause a deadlock while updating the AABB of a body during simulation.
* Fixed a crash when fetching a body using an invalid BodyID.
* Windows 32 vs 64-bit versions produce the same deterministic results now.
* Heightfield vs convex was not filled in in collision dispatch table. This caused sensors to assert and not detect collisions with heightfields.
* The friction applied during continuous collision detection could be sqrt(2) times too large.
* The friction was clamped independently on both tangential axis which meant that the total friction could be larger than the amount of friction that should have been allowed. It also meant that an object would slow down quicker on one axis than on another causing a curved trajectory.
* When an object wasn't moving fast enough to trigger restitution for a speculative contact, the contact was enforced at the current position rather than at the distance of the speculative contact.
* Fixed CharacterVirtual jittering issue when moving down on elevator.
* CharacterVirtual was speeding up beyond the requested speed when sliding along a wall.
* CharacterVirtual reported to be on ground for one more frame after jumping against a wall.
* Added missing delta time term in CharacterVirtual::DetermineConstraints.
* CastShape had incorrect early out condition which could cause it to miss the deepest penetration.
* Pitch/roll limit constraint for vehicles didn't work when local vehicle up did not match world up.
* Wheel contact point did not return deepest point in certain cases.
* Fix for engine RPM being much higher than wheel RPM when measured at clutch. Before we were ignoring bake and wheel torques in engine RPM calculation.
* Don't allow the vehicle to sleep when the transmission is switching.
* Fixed bug that caused suspension to be weaker when driving a vehicle over dynamic bodies.
## v3.0.0
* Support for double precision simulation for large worlds (see [announcement](https://twitter.com/jrouwe/status/1599366630273712128))
* Performance optimization that allows solving large islands on multiple threads (see [announcement](https://twitter.com/jrouwe/status/1633229953775828994))
* Vehicles now support suspensions that are at an angle with the vehicle body (instead of 90 degrees)
* Supporting cylinder based wheels for vehicles
* Experimental motor cycle physics (see [announcement](https://twitter.com/jrouwe/status/1642479907383959553))
* CharacterVirtual can now move relative to a moving object (e.g. a space ship)
* Added 2D physics example
* Added functionality to estimate the collision impulse in the contact added callback
* Added a JobSystemWithBarrier class that makes it easier to integrate with your own job system
* Support for 32-bit object layers to allow easier integration with existing collision filtering systems
## v2.0.1
* Adds ARM 32-bit support to support vcpkg-tool
## v2.0.0
### Major new functionality
* Simulation is now deterministic between Windows, Linux and macOS.
* Support for custom memory allocators.
* A new character class that lives outside the main simulation update and is mainly used for player movement (CharacterVirtual).
* Implemented skeleton mapper that can convert an animated skeleton to a ragdoll skeleton and back.
* Rack and pinion, gear and pulley constraints have been added.
* Ability for sensors to detect collisions with sleeping bodies.
* Improved engine model for wheeled vehicles.
* Most constraints can now also be configured in local space.
### New supported compilers
* MinGW
* GCC
### New supported platforms
* All intel platforms supporting SSE2 and higher (was SSE4.2)
* 32-bit applications (was 64 bit only)
* Windows on ARM
* Windows UWP
* macOS
* iOS
* WebAssembly
## v1.1.0
* Optimizations.
## v1.0.0
* Initial stable release.

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# Jolt Physics Samples
This document describes the demos in the [Samples](https://github.com/jrouwe/JoltPhysics/tree/master/Samples) application. When you run the samples application the application will initially start paused, press P to unpause it. The menu is accessible through pressing ESC, it has the following options:
* Select Test - This allows you to select between the different types of physics tests
* Test Settings - Some tests will allow extra configuration, if not this setting will be greyed out
* Restart Test (R) - When selecting this, the test will go back to its initial state
* Run All Tests - This will run every tests for 10 seconds before proceeding to the next. This is a good way of visually inspecting the simulation before commiting a code change.
* Next Test (N) - When running all tests, this option can be used to quickly skip to the next test.
* Physics Settings - This menu contains all physics configuration.
* Drawing Options - This menu shows all the options for drawing the internal state of the physics simulation.
* Mouse Probe - This allows you to switch between various collision detection modes to test the different collision detection algorithms
* Shoot Object - A sample application is not complete without being able to shoot some balls at the simulation (B key). This menu allows additional settings.
* Help - A quick help text.
## General Controls
* Use the Mouse and WSAD keys to move around, hold Shift to speed up and Ctrl to slow down
* Hold the Space key to pick up an object in the center of the screen and move it around with the mouse and WSAD.
* P - Pause / unpause simulation.
* O - Single step the simulation.
* , - Step back (only when Physics Settings / Record State for Playback is on).
* . - Step forward (only when Physics Settings / Record State for Playback is on).
* Shift + , - Play reverse (only when Physics Settings / Record State for Playback is on).
* Shift + . - Replay forward (only when Physics Settings / Record State for Playback is on).
* T - Dump frame timing information to profile_*.html (when JPH_PROFILE_ENABLED defined).
## The Tests
Note that you can watch all movies below in [a single YouTube playlist](https://www.youtube.com/watch?v=pwyCW0yNKMA&list=PLYXVwtOr1CBxbA50jVg2dKUQvHW_5OOom).
### Vehicles
This categories shows vehicles created through the VehicleConstraint. These vehicles use ray- or shape casts to detect collision with the ground and simulate a vehicle with an engine, gearbox, differentials and suspension.
|[![Vehicle Demo](https://img.youtube.com/vi/A_gvLH4KKDA/hqdefault.jpg)](https://www.youtube.com/watch?v=A_gvLH4KKDA)|
|:-|
|*A wheeled vehicle.*|
|[![Tank Demo](https://img.youtube.com/vi/QwlPOKbxsqU/hqdefault.jpg)](https://www.youtube.com/watch?v=QwlPOKbxsqU)|
|:-|
|*Demonstrates a tracked vehicle with a turret constrained to the main body with hinge constraints.*|
|[![Motorcycle Demo](https://img.youtube.com/vi/umI8FF0gVxs/hqdefault.jpg)](https://www.youtube.com/watch?v=umI8FF0gVxs)|
|:-|
|*Demonstrates a motor cycle.*|
|[![Vehicle Gravity Override](https://img.youtube.com/vi/AJPS31S6ZO8/hqdefault.jpg)](https://www.youtube.com/watch?v=AJPS31S6ZO8)|
|:-|
|*Applying a custom gravity override to a vehicle to create weird gameplay.*|
### Rig (Ragdolls)
This category demonstrates how ragdolls can be made and controlled using keyframing or motors.
|[![Kinematic Ragdoll](https://img.youtube.com/vi/gvq6qdU3ZTs/hqdefault.jpg)](https://www.youtube.com/watch?v=gvq6qdU3ZTs)|
|:-|
|*A ragdoll set to kinematic mode (infinite mass, simulated using velocities only) interacting with dynamic objects.*|
|[![Ragdoll Driven to Animated Pose](https://img.youtube.com/vi/lYHhe6HLbs4/hqdefault.jpg)](https://www.youtube.com/watch?v=lYHhe6HLbs4)|
|:-|
|*Demonstrating a humanoid ragdoll driven by motors which are trying to match a sprint animation in local space (green sticks).*|
|[![Skeleton Mapper](https://img.youtube.com/vi/hrnmgNN-m-U/hqdefault.jpg)](https://www.youtube.com/watch?v=hrnmgNN-m-U)|
|:-|
|*An animation is played back on a high detail skeleton ('Animation') and then mapped onto a low detail ragdoll skeleton ('Reversed Mapped'). This animation is used to drive the motors of the ragdoll. The resulting pose is mapped back to the high detail skeleton ('Mapped'). Note that the skeletons are drawn offset to make them clearer..*|
|[![160 Ragdolls in a Pile](https://img.youtube.com/vi/pwyCW0yNKMA/hqdefault.jpg)](https://www.youtube.com/watch?v=pwyCW0yNKMA)|
|:-|
|*160 Ragdolls being dropped on a scene from Horizon Zero Dawn.*|
|[![160 Ragdolls in a Pile (Sleeping Visualization)](https://img.youtube.com/vi/7ZMm7yObpqs/hqdefault.jpg)](https://www.youtube.com/watch?v=7ZMm7yObpqs)|
|:-|
|*160 Ragdolls dropping on a pile, simulated using the Jolt Physics engine. Yellow means the ragdoll is simulated, red means the simulation is sleeping.*|
|[![160 Ragdolls Driven to Pose](https://img.youtube.com/vi/jhpsIqbsU4I/hqdefault.jpg)](https://www.youtube.com/watch?v=jhpsIqbsU4I)|
|:-|
|*A pile of ragdolls that are driven to a specific animated death pose. This gives the ragdolls 'stiffness'.*|
### Soft Body
|[![Soft Body Demo](https://img.youtube.com/vi/vJX_3FNISkw/hqdefault.jpg)](https://www.youtube.com/watch?v=vJX_3FNISkw)|
|:-|
|*Demonstrates Soft Body physics as simulated by Jolt Physics. Soft body physics can be used for things like cloth and soft balls.*|
|[![Soft Body Contact Listener Demo](https://img.youtube.com/vi/DmS_8d2bdOw/hqdefault.jpg)](https://www.youtube.com/watch?v=DmS_8d2bdOw)|
|:-|
|*Demonstrates the use of soft body contact listeners. You can use these to affect the collision response between a soft body and a rigid body by e.g. artificially making the mass of one of the two higher so that the other is less affected by the collision. Finally you can also turn a contact into a sensor contact which means you get the contact points but there will not be any collision response..*|
|[![Soft Body Bend Constraints Demo](https://img.youtube.com/vi/A1iswelnGH4/hqdefault.jpg)](https://www.youtube.com/watch?v=A1iswelnGH4)|
|:-|
|*This video shows the effect of bend constraints on a wrinkled cloth. The left most patch has no constraints to preserve the wrinkles, the middle uses distance constrains ('sticks') to preserve the wrinkles and the last one uses dihedral angle constraints to preserve the angle between two triangles on their shared edge.*|
|[![Soft Body Skin Constraints Demo](https://img.youtube.com/vi/NXw8yMczHJg/hqdefault.jpg)](https://www.youtube.com/watch?v=NXw8yMczHJg)|
|:-|
|*This demo shows a soft body that is connected to a skinned mesh via distance constraints. Each simulated vertex can deviate from its skinned position by a fixed length. The green lines indicate the animated joints of the skinned mesh.*|
### Character
This category shows how you can simulate a (humanoid) character using a capsule.
|[![Character Demo](https://img.youtube.com/vi/YjaJT9of7UE/hqdefault.jpg)](https://www.youtube.com/watch?v=YjaJT9of7UE)|
|:-|
|*A demonstration of a game Character. Demonstrates moving, sliding against the environment, crouching and jumping.*|
### Water
This category shows how you can implement a water simulation in your game.
|[![Water Simulation](https://img.youtube.com/vi/CEr_LtQLGeg/hqdefault.jpg)](https://www.youtube.com/watch?v=CEr_LtQLGeg)|
|:-|
|*Water buoyancy and friction simulation. Demonstrates how various shapes and compound shapes behave in the water. The right most object has a lowered center of mass.*|
### Constraints
This category shows the various constraints that are supported. Constraints connect two or more bodies together and limit the relative movement.
|[![Path Constraint](https://img.youtube.com/vi/6xMKNMjD5pE/hqdefault.jpg)](https://www.youtube.com/watch?v=6xMKNMjD5pE)|
|:-|
|*Showing the path constraint in action.*|
|[![Swing Twist Constraint](https://img.youtube.com/vi/8aQ9x8SQSuM/hqdefault.jpg)](https://www.youtube.com/watch?v=8aQ9x8SQSuM)|
|:-|
|*Demonstrates a chain of swing-twist constraints (usable for humanoid shoulders). The green cones show the swing limit and the pink pie shows the twist limit.*|
|[![Gear constraint](https://img.youtube.com/vi/3w5SgElroBw/hqdefault.jpg)](https://www.youtube.com/watch?v=3w5SgElroBw)|
|:-|
|*Demonstrates a gear constraint. Note that the gears can be placed at any relative angle of each other, so you could e.g. create a bevel or worm gear.*|
|[![Rack and pinion constraint](https://img.youtube.com/vi/e588KG-ZSxc/hqdefault.jpg)](https://www.youtube.com/watch?v=e588KG-ZSxc)|
|:-|
|*Demonstrates a rack and pinion constraint.*|
|[![Pulley constraint](https://img.youtube.com/vi/9P8OaahtU-4/hqdefault.jpg)](https://www.youtube.com/watch?v=9P8OaahtU-4)|
|:-|
|*Shows two boxes connected through a pulley constraint. In this case the constraint is configured as a block and tackle with and advantage of 2: the right block moves 2x as slow as the left block.*|
### General
This category contains general simulation tests. It demonstrates things like friction, restitution, damping, modifying gravity and continuous collision detection. Some highlights:
|[![Stable Box Stacking](https://img.youtube.com/vi/fTtjBLYBxco/hqdefault.jpg)](https://www.youtube.com/watch?v=fTtjBLYBxco)|
|:-|
|*A YouTube video showing stability of a pile of boxes.*|
|[![Active Edge Detection](https://img.youtube.com/vi/EanFxlkZgcA/hqdefault.jpg)](https://www.youtube.com/watch?v=EanFxlkZgcA)|
|:-|
|*Demonstrates objects sliding along a polygon mesh. Internal mesh edges are ignored and do not cause objects to bounce off.*|
|[![Funnel Test](https://img.youtube.com/vi/Y-UgylH992A/hqdefault.jpg)](https://www.youtube.com/watch?v=Y-UgylH992A)|
|:-|
|*1000 random shapes in a funnel.*|
|[![Multithreaded Island Simulation](https://img.youtube.com/vi/_Lv5xlWtCpM/hqdefault.jpg)](https://www.youtube.com/watch?v=_Lv5xlWtCpM)|
|:-|
|*We will automatically split up the simulation in islands of non-interacting bodies and distribute the work across multiple threads. Each island has its own color.*|
|[![Single vs Double Precision](https://img.youtube.com/vi/KGnlYSW3550/hqdefault.jpg)](https://www.youtube.com/watch?v=KGnlYSW3550)|
|:-|
|*Shows the difference between compiling Jolt Physics in single precision and double precision (define JPH_DOUBLE_PRECISION).*|
|[![Conveyor belt](https://img.youtube.com/vi/p_H6egZzbZE/hqdefault.jpg)](https://www.youtube.com/watch?v=p_H6egZzbZE)|
|:-|
|*A demo of setting the surface velocity of a body to create a conveyor belt. The boxes have decreasing friction from front to back (last one has zero friction so slowly slides down the ramp).*|
### Shapes & Scaled Shapes
These categories show off all of the supported shapes and how they can be scaled at run-time.
|[![Shape Scaling](https://img.youtube.com/vi/u9cPBGUFurc/hqdefault.jpg)](https://www.youtube.com/watch?v=u9cPBGUFurc)|
|:-|
|*A height field shape using various scales in Jolt Physics: Uniform, Non uniform, Mirrored, Inside out*|

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